edu.wpi.first.wpilibj
Class InterruptableSensorBase

java.lang.Object
  edu.wpi.first.wpilibj.SensorBase
      edu.wpi.first.wpilibj.InterruptableSensorBase

All Implemented Interfaces:

FrcBotSimComponent

Direct Known Subclasses:

DigitalSource

public abstract class InterruptableSensorBase
extends SensorBase

Base for sensors to be used with interrupts

Field Summary

protected static Resource	interrupts Resource manager
protected tInterrupt	m_interrupt The interrupt resource
protected int	m_interruptIndex The index of the interrupt
protected tInterruptManager	m_manager The interrupt manager resource

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogChannels, kAnalogModules, kDigitalChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond, n_simProperties

Constructor Summary

InterruptableSensorBase()
Create a new InterrupatableSensorBase

Method Summary

void	allocateInterrupts(boolean watcher) Allocate the interrupt
void	cancelInterrupts() Cancel interrupts on this device.
void	disableInterrupts() Disable Interrupts without without deallocating structures.
void	enableInterrupts() Enable interrupts to occur on this input.
double	readInterruptTimestamp() Return the timestamp for the interrupt that occurred most recently.
void	waitForInterrupt(double timeout) In synchronous mode, wait for the defined interrupt to occur.

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogChannel, checkAnalogModule, checkDigitalChannel, checkDigitalModule, checkPWMChannel, checkPWMModule, checkRelayChannel, checkRelayModule, checkSolenoidChannel, checkSolenoidModule, free, getDefaultAnalogModule, getDefaultDigitalModule, getDefaultSolenoidModule, getSimProperties, setDefaultAnalogModule, setDefaultDigitalModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

m_interrupt

protected tInterrupt m_interrupt

The interrupt resource

m_manager

protected tInterruptManager m_manager

The interrupt manager resource

m_interruptIndex

protected int m_interruptIndex

The index of the interrupt

interrupts

protected static Resource interrupts

Resource manager

Constructor Detail

InterruptableSensorBase

public InterruptableSensorBase()

Create a new InterrupatableSensorBase

Method Detail

allocateInterrupts

public void allocateInterrupts(boolean watcher)

Allocate the interrupt

Parameters:

watcher -

cancelInterrupts

public void cancelInterrupts()

Cancel interrupts on this device. This deallocates all the chipobject structures and disables any interrupts.

waitForInterrupt

public void waitForInterrupt(double timeout)

In synchronous mode, wait for the defined interrupt to occur.

Parameters:

timeout - Timeout in seconds

enableInterrupts

public void enableInterrupts()

Enable interrupts to occur on this input. Interrupts are disabled when the RequestInterrupt call is made. This gives time to do the setup of the other options before starting to field interrupts.

disableInterrupts

public void disableInterrupts()

Disable Interrupts without without deallocating structures.

readInterruptTimestamp

public double readInterruptTimestamp()

Return the timestamp for the interrupt that occurred most recently. This is in the same time domain as getClock().

Returns:

Timestamp in seconds since boot.