wpilib18/java/current/javadoc/edu/wpi/first/wpilibj/InterruptableSensorBase.html
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<h2 title="Class InterruptableSensorBase" class="title">Class InterruptableSensorBase</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
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<ul class="inheritance">
<li><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">edu.wpi.first.wpilibj.SensorBase</a></li>
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<li>edu.wpi.first.wpilibj.InterruptableSensorBase</li>
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<dt>Direct Known Subclasses:</dt>
<dd><a href="../../../../edu/wpi/first/wpilibj/DigitalSource.html" title="class in edu.wpi.first.wpilibj">DigitalSource</a></dd>
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<pre>public abstract class <span class="typeNameLabel">InterruptableSensorBase</span>
extends <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></pre>
<div class="block">Base for sensors to be used with interrupts.</div>
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<td class="colFirst"><code>static class </code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.WaitResult.html" title="enum in edu.wpi.first.wpilibj">InterruptableSensorBase.WaitResult</a></span></code> </td>
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<td class="colFirst"><code>protected int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#m_interrupt">m_interrupt</a></span></code>
<div class="block">The interrupt resource.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>protected boolean</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#m_isSynchronousInterrupt">m_isSynchronousInterrupt</a></span></code>
<div class="block">Flags if the interrupt being allocated is synchronous.</div>
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<h3>Fields inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogInputChannels">kAnalogInputChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogOutputChannels">kAnalogOutputChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kDigitalChannels">kDigitalChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPCMModules">kPCMModules</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPChannels">kPDPChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPModules">kPDPModules</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPwmChannels">kPwmChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kRelayChannels">kRelayChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSolenoidChannels">kSolenoidChannels</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSystemClockTicksPerMicrosecond">kSystemClockTicksPerMicrosecond</a></code></li>
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<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#InterruptableSensorBase--">InterruptableSensorBase</a></span>()</code>
<div class="block">Create a new InterrupatableSensorBase.</div>
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<td class="colFirst"><code>protected void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#allocateInterrupts-boolean-">allocateInterrupts</a></span>(boolean watcher)</code>
<div class="block">Allocate the interrupt.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#cancelInterrupts--">cancelInterrupts</a></span>()</code>
<div class="block">Cancel interrupts on this device.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#disableInterrupts--">disableInterrupts</a></span>()</code>
<div class="block">Disable Interrupts without without deallocating structures.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#enableInterrupts--">enableInterrupts</a></span>()</code>
<div class="block">Enable interrupts to occur on this input.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>abstract int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#getAnalogTriggerTypeForRouting--">getAnalogTriggerTypeForRouting</a></span>()</code>
<div class="block">If this is an analog trigger.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>abstract int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#getPortHandleForRouting--">getPortHandleForRouting</a></span>()</code>
<div class="block">The channel routing number.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#readFallingTimestamp--">readFallingTimestamp</a></span>()</code>
<div class="block">Return the timestamp for the falling interrupt that occurred most recently.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>double</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#readRisingTimestamp--">readRisingTimestamp</a></span>()</code>
<div class="block">Return the timestamp for the rising interrupt that occurred most recently.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#requestInterrupts--">requestInterrupts</a></span>()</code>
<div class="block">Request one of the 8 interrupts synchronously on this digital input.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#requestInterrupts-edu.wpi.first.wpilibj.InterruptHandlerFunction-">requestInterrupts</a></span>(<a href="../../../../edu/wpi/first/wpilibj/InterruptHandlerFunction.html" title="class in edu.wpi.first.wpilibj">InterruptHandlerFunction</a><?> handler)</code>
<div class="block">Request one of the 8 interrupts asynchronously on this digital input.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#setUpSourceEdge-boolean-boolean-">setUpSourceEdge</a></span>(boolean risingEdge,
boolean fallingEdge)</code>
<div class="block">Set which edge to trigger interrupts on.</div>
</td>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><code><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.WaitResult.html" title="enum in edu.wpi.first.wpilibj">InterruptableSensorBase.WaitResult</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#waitForInterrupt-double-">waitForInterrupt</a></span>(double timeout)</code>
<div class="block">In synchronous mode, wait for the defined interrupt to occur.</div>
</td>
</tr>
<tr id="i12" class="altColor">
<td class="colFirst"><code><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.WaitResult.html" title="enum in edu.wpi.first.wpilibj">InterruptableSensorBase.WaitResult</a></code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#waitForInterrupt-double-boolean-">waitForInterrupt</a></span>(double timeout,
boolean ignorePrevious)</code>
<div class="block">In synchronous mode, wait for the defined interrupt to occur.</div>
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<h3>Methods inherited from class edu.wpi.first.wpilibj.<a href="../../../../edu/wpi/first/wpilibj/SensorBase.html" title="class in edu.wpi.first.wpilibj">SensorBase</a></h3>
<code><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogInputChannel-int-">checkAnalogInputChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogOutputChannel-int-">checkAnalogOutputChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkDigitalChannel-int-">checkDigitalChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPChannel-int-">checkPDPChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPModule-int-">checkPDPModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPWMChannel-int-">checkPWMChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkRelayChannel-int-">checkRelayChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidChannel-int-">checkSolenoidChannel</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidModule-int-">checkSolenoidModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#free--">free</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#getDefaultSolenoidModule--">getDefaultSolenoidModule</a>, <a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#setDefaultSolenoidModule-int-">setDefaultSolenoidModule</a></code></li>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h4>m_interrupt</h4>
<pre>protected int m_interrupt</pre>
<div class="block">The interrupt resource.</div>
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<h4>m_isSynchronousInterrupt</h4>
<pre>protected boolean m_isSynchronousInterrupt</pre>
<div class="block">Flags if the interrupt being allocated is synchronous.</div>
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<h4>InterruptableSensorBase</h4>
<pre>public InterruptableSensorBase()</pre>
<div class="block">Create a new InterrupatableSensorBase.</div>
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<h4>getAnalogTriggerTypeForRouting</h4>
<pre>public abstract int getAnalogTriggerTypeForRouting()</pre>
<div class="block">If this is an analog trigger.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>true if this is an analog trigger.</dd>
</dl>
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<h4>getPortHandleForRouting</h4>
<pre>public abstract int getPortHandleForRouting()</pre>
<div class="block">The channel routing number.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>channel routing number</dd>
</dl>
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<h4>requestInterrupts</h4>
<pre>public void requestInterrupts(<a href="../../../../edu/wpi/first/wpilibj/InterruptHandlerFunction.html" title="class in edu.wpi.first.wpilibj">InterruptHandlerFunction</a><?> handler)</pre>
<div class="block">Request one of the 8 interrupts asynchronously on this digital input.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>handler</code> - The <a href="../../../../edu/wpi/first/wpilibj/InterruptHandlerFunction.html" title="class in edu.wpi.first.wpilibj"><code>InterruptHandlerFunction</code></a> that contains the method <a href="../../../../edu/wpi/first/wpilibj/InterruptHandlerFunction.html#interruptFired-int-T-"><code>InterruptHandlerFunction.interruptFired(int, Object)</code></a> 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.</dd>
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<pre>public void requestInterrupts()</pre>
<div class="block">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 <a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#waitForInterrupt-double-boolean-"><code>waitForInterrupt(double, boolean)</code></a>. The default is interrupt on rising edges only.</div>
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<h4>allocateInterrupts</h4>
<pre>protected void allocateInterrupts(boolean watcher)</pre>
<div class="block">Allocate the interrupt.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>watcher</code> - true if the interrupt should be in synchronous mode where the user program will
have to explicitly wait for the interrupt to occur.</dd>
</dl>
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<h4>cancelInterrupts</h4>
<pre>public void cancelInterrupts()</pre>
<div class="block">Cancel interrupts on this device. This deallocates all the chipobject structures and disables
any interrupts.</div>
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<h4>waitForInterrupt</h4>
<pre>public <a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.WaitResult.html" title="enum in edu.wpi.first.wpilibj">InterruptableSensorBase.WaitResult</a> waitForInterrupt(double timeout,
boolean ignorePrevious)</pre>
<div class="block">In synchronous mode, wait for the defined interrupt to occur.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>timeout</code> - Timeout in seconds</dd>
<dd><code>ignorePrevious</code> - If true, ignore interrupts that happened before waitForInterrupt was
called.</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Result of the wait.</dd>
</dl>
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<h4>waitForInterrupt</h4>
<pre>public <a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.WaitResult.html" title="enum in edu.wpi.first.wpilibj">InterruptableSensorBase.WaitResult</a> waitForInterrupt(double timeout)</pre>
<div class="block">In synchronous mode, wait for the defined interrupt to occur.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>timeout</code> - Timeout in seconds</dd>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Result of the wait.</dd>
</dl>
</li>
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<h4>enableInterrupts</h4>
<pre>public void enableInterrupts()</pre>
<div class="block">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.</div>
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<h4>disableInterrupts</h4>
<pre>public void disableInterrupts()</pre>
<div class="block">Disable Interrupts without without deallocating structures.</div>
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<h4>readRisingTimestamp</h4>
<pre>public double readRisingTimestamp()</pre>
<div class="block">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 <a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#setUpSourceEdge-boolean-boolean-"><code>setUpSourceEdge(boolean, boolean)</code></a>.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Timestamp in seconds since boot.</dd>
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<h4>readFallingTimestamp</h4>
<pre>public double readFallingTimestamp()</pre>
<div class="block">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 <a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html#setUpSourceEdge-boolean-boolean-"><code>setUpSourceEdge(boolean, boolean)</code></a>.</div>
<dl>
<dt><span class="returnLabel">Returns:</span></dt>
<dd>Timestamp in seconds since boot.</dd>
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<h4>setUpSourceEdge</h4>
<pre>public void setUpSourceEdge(boolean risingEdge,
boolean fallingEdge)</pre>
<div class="block">Set which edge to trigger interrupts on.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>risingEdge</code> - true to interrupt on rising edge</dd>
<dd><code>fallingEdge</code> - true to interrupt on falling edge</dd>
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