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WPILib 2012
WPILibRoboticsLibraryforFRC
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Notifier.h
00001 /*----------------------------------------------------------------------------*/ 00002 /* Copyright (c) FIRST 2008. All Rights Reserved. */ 00003 /* Open Source Software - may be modified and shared by FRC teams. The code */ 00004 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */ 00005 /*----------------------------------------------------------------------------*/ 00006 00007 #ifndef NOTIFIER_H 00008 #define NOTIFIER_H 00009 00010 #include "ChipObject.h" 00011 #include "ErrorBase.h" 00012 00013 typedef void (*TimerEventHandler)(void *param); 00014 00015 class Notifier : public ErrorBase 00016 { 00017 public: 00018 Notifier(TimerEventHandler handler, void *param = NULL); 00019 virtual ~Notifier(); 00020 void StartSingle(double delay); 00021 void StartPeriodic(double period); 00022 void Stop(); 00023 private: 00024 static Notifier *timerQueueHead; 00025 static SEM_ID queueSemaphore; 00026 static tAlarm *talarm; 00027 static tInterruptManager *manager; 00028 static int refcount; 00029 00030 static const UINT32 kTimerInterruptNumber = 28; 00031 static void ProcessQueue(uint32_t mask, void *params); // process the timer queue on a timer event 00032 static void UpdateAlarm(); // update the FPGA alarm since the queue has changed 00033 void InsertInQueue(bool reschedule); // insert this Notifier in the timer queue 00034 void DeleteFromQueue(); // delete this Notifier from the timer queue 00035 TimerEventHandler m_handler; // address of the handler 00036 void *m_param; // a parameter to pass to the handler 00037 double m_period; // the relative time (either periodic or single) 00038 double m_expirationTime; // absolute expiration time for the current event 00039 Notifier *m_nextEvent; // next Nofifier event 00040 bool m_periodic; // true if this is a periodic event 00041 bool m_queued; // indicates if this entry is queued 00042 SEM_ID m_handlerSemaphore; // held by interrupt manager task while handler call is in progress 00043 DISALLOW_COPY_AND_ASSIGN(Notifier); 00044 }; 00045 00046 #endif
