io.github.robolib.module.iface

Class InterruptBase

java.lang.Object

io.github.robolib.module.iface.Interface

io.github.robolib.module.iface.InterruptBase

Direct Known Subclasses:

DigitalIO

public abstract class InterruptBase
extends Interface

Author:

noriah

Nested Class Summary

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface

Interface.InterfaceType

Field Summary

Fields

Modifier and Type	Field and Description
private static byte	m_allocated
protected java.nio.ByteBuffer	m_interrupt
protected int	m_interruptIndex
protected boolean	m_isSyncInterrupt

Fields inherited from class io.github.robolib.module.iface.Interface

m_ifaceType, MAX_ANALOG_IN_CHANNELS, MAX_ANALOG_OUT_CHANNELS, MAX_DIGITAL_CHANNELS, MAX_PWM_CHANNELS, MAX_RELAY_CHANNELS

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	InterruptBase(Interface.InterfaceType iType) Construct a new interrupt

Method Summary

Modifier and Type	Method and Description
protected void	allocateInterrupt(boolean watcher) Allocate the interrupt
void	cancelInterrupt() Cancel interrupts on this device.
void	disableInterrupts() Disable Interrupts without without deallocating structures.
void	enableInterrupts() Enable interrupts to occur on this input.
(package private) abstract int	getChannelNumber() Get the channel number for this interrupt.
(package private) abstract byte	getModuleNumber() Get the module number for this interrupt.
(package private) abstract boolean	isAnalogTrigger() Get whether this interrupt is an analog trigger or not
double	readFallingTimestamp() Return the timestamp for the falling interrupt that occurred most recently.
double	readRisingTimestamp() Return the timestamp for the rising interrupt that occurred most recently.
void	requestInterrupt() Request one of the 8 interrupts synchronously on this digital input.
void	requestInterrupt(InterruptHandlerFunction<?> handler) Request one of the 8 interrupts asynchronously on this digital input.
void	setUpSourceEdge(boolean risingEdge, boolean fallingEdge) Set which edge to trigger interrupts on
protected void	validateInterrupt() Make sure that the interrupt is not null.
void	waitForInterrupt(double timeout) In synchronous mode, wait for the defined interrupt to occur.
void	waitForInterrupt(double timeout, boolean ignorePrevious) In synchronous mode, wait for the defined interrupt to occur.

Methods inherited from class io.github.robolib.module.iface.Interface

allocateMXPPin, checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPWMChannel, checkRelayChannel, freeMXPPin, getInterfaceType

Methods inherited from class java.lang.Object

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

Field Detail

m_interrupt

protected java.nio.ByteBuffer m_interrupt

m_isSyncInterrupt

protected boolean m_isSyncInterrupt

m_interruptIndex

protected int m_interruptIndex

m_allocated

private static byte m_allocated

Constructor Detail

InterruptBase

protected InterruptBase(Interface.InterfaceType iType)

Construct a new interrupt

Parameters:

iType - the InterfaceType of this Interrupt

Method Detail

isAnalogTrigger

abstract boolean isAnalogTrigger()

Get whether this interrupt is an analog trigger or not

Returns:

true if this interrupt is an AnalogTrigger

See Also:

AnalogInput.initTrigger(), AnalogInput.createTriggerOutput(AnalogTriggerType), AnalogTriggerOutput, AnalogInput.AnalogTriggerType

getChannelNumber

abstract int getChannelNumber()

Get the channel number for this interrupt.

Returns:

channel number

getModuleNumber

abstract byte getModuleNumber()

Get the module number for this interrupt.

Returns:

module number

requestInterrupt

public final void requestInterrupt(InterruptHandlerFunction<?> handler)

Request one of the 8 interrupts asynchronously on this digital input.

Parameters:

handler - The InterruptHandlerFunction that contains the method InterruptHandlerFunction.interruptFired(int, Object) that will be called whenever there is an interrupt on this device. Request interrupts in synchronous mode where the user program interrupt handler will be called when an interrupt occurs. The default is interrupt on rising edges only.

requestInterrupt

public final void requestInterrupt()

Request one of the 8 interrupts synchronously on this digital input. Request interrupts in synchronous mode where the user program will have to explicitly wait for the interrupt to occur using waitForInterrupt(double). The default is interrupt on rising edges only.

allocateInterrupt

protected final void allocateInterrupt(boolean watcher)

Allocate the interrupt

Parameters:

watcher - true if the interrupt should be in synchronous mode where the user program will have to explicitly wait for the interrupt to occur.

cancelInterrupt

public final void cancelInterrupt()

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

waitForInterrupt

public final void waitForInterrupt(double timeout)

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

Parameters:

timeout - Timeout in seconds

waitForInterrupt

public final void waitForInterrupt(double timeout,
                                   boolean ignorePrevious)

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

Parameters:

timeout - Timeout in seconds

ignorePrevious - If true, ignore interrupts that happened before waitForInterrupt was called.

enableInterrupts

public final 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 final void disableInterrupts()

Disable Interrupts without without deallocating structures.

readRisingTimestamp

public final double readRisingTimestamp()

Return the timestamp for the rising interrupt that occurred most recently. This is in the same time domain as getClock(). The rising-edge interrupt should be enabled with setUpSourceEdge(boolean, boolean)

Returns:

Timestamp in seconds since boot.

readFallingTimestamp

public final double readFallingTimestamp()

Return the timestamp for the falling interrupt that occurred most recently. This is in the same time domain as getClock(). The falling-edge interrupt should be enabled with setUpSourceEdge(boolean, boolean)

Returns:

Timestamp in seconds since boot.

setUpSourceEdge

public final void setUpSourceEdge(boolean risingEdge,
                                  boolean fallingEdge)

Set which edge to trigger interrupts on

Parameters:

risingEdge - true to interrupt on rising edge

fallingEdge - true to interrupt on falling edge

validateInterrupt

protected final void validateInterrupt()

Make sure that the interrupt is not null.