InterruptableSensorBase.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "InterruptableSensorBase.h"
#include "Utility.h"

InterruptableSensorBase::InterruptableSensorBase()
{
        m_manager = NULL;
        m_interrupt = NULL;
}

InterruptableSensorBase::~InterruptableSensorBase()
{

}

void InterruptableSensorBase::AllocateInterrupts(bool watcher)
{
        wpi_assert(m_interrupt == NULL);
        wpi_assert(m_manager == NULL);
        // Expects the calling leaf class to allocate an interrupt index.
        tRioStatusCode localStatus = NiFpga_Status_Success;
        m_interrupt = tInterrupt::create(m_interruptIndex, &localStatus);
        m_interrupt->writeConfig_WaitForAck(false, &localStatus);
        m_manager = new tInterruptManager(1 << m_interruptIndex, watcher, &localStatus);
        wpi_setError(localStatus);
}

void InterruptableSensorBase::CancelInterrupts()
{
        wpi_assert(m_manager != NULL);
        wpi_assert(m_interrupt != NULL);
        delete m_interrupt;
        delete m_manager;
        m_interrupt = NULL;
        m_manager = NULL;
}

void InterruptableSensorBase::WaitForInterrupt(float timeout)
{
        wpi_assert(m_manager != NULL);
        wpi_assert(m_interrupt != NULL);
        tRioStatusCode localStatus = NiFpga_Status_Success;
        m_manager->watch((int32_t)(timeout * 1e3), &localStatus);
        wpi_setError(localStatus);
}

void InterruptableSensorBase::EnableInterrupts()
{
        wpi_assert(m_manager != NULL);
        wpi_assert(m_interrupt != NULL);
        tRioStatusCode localStatus = NiFpga_Status_Success;
        m_manager->enable(&localStatus);
        wpi_setError(localStatus);
}

void InterruptableSensorBase::DisableInterrupts()
{
        wpi_assert(m_manager != NULL);
        wpi_assert(m_interrupt != NULL);
        tRioStatusCode localStatus = NiFpga_Status_Success;
        m_manager->disable(&localStatus);
        wpi_setError(localStatus);
}

double InterruptableSensorBase::ReadInterruptTimestamp()
{
        wpi_assert(m_interrupt != NULL);
        tRioStatusCode localStatus = NiFpga_Status_Success;
        uint32_t timestamp = m_interrupt->readTimeStamp(&localStatus);
        wpi_setError(localStatus);
        return timestamp * 1e-6;
}