public static void PingAll()
{
HALAccelerometer.Ping();
HALAnalogAccumulator.Ping();
HALAnalogGyro.Ping();
HALAnalogInput.Ping();
HALAnalogOutput.Ping();
HALAnalogTrigger.Ping();
HALCompressor.Ping();
HALConstants.Ping();
HALDIO.Ping();
HALDriverStation.Ping();
HALEncoder.Ping();
HALI2C.Ping();
HALInterrupts.Ping();
HALNotifier.Ping();
HALPDP.Ping();
HALPorts.Ping();
HALPower.Ping();
HALPWM.Ping();
HALRelay.Ping();
HALSerialPort.Ping();
HALSolenoid.Ping();
HALSPI.Ping();
HALThreads.Ping();
}
/// <summary>
/// Return the timestamp for the falling interrupt that occurred most recently.
/// </summary>
/// <returns>Timestamp in seconds since boot.</returns>
/// <remarks>This is in the same time domain as GetClock(). The rising edge interrupt
/// should be enabled with <see cref="SetUpSourceEdge"/></remarks>
public double ReadFallingTimestanp()
{
if (Interrupt == 0)
{
throw new InvalidOperationException("The interrupt is not allocated.");
}
int status = 0;
double timestamp = HALInterrupts.HAL_ReadInterruptFallingTimestamp(Interrupt, ref status);
Utility.CheckStatus(status);
return(timestamp);
}
/// /// <summary>
/// In synchronous mode, wait for the defined interrupt to occur.
/// </summary>
/// <param name="timeout">Timeout in seconds</param>
/// /// <param name="ignorePrevious">If true, ignore previous interrupts that
/// happened before this was called.</param>
/// <returns>The <see cref="WaitResult"/> of the interrupt</returns>
public WaitResult WaitForInterrupt(double timeout, bool ignorePrevious)
{
if (Interrupt == 0)
{
throw new InvalidOperationException("The interrupt is not allocated.");
}
int status = 0;
long value = HALInterrupts.HAL_WaitForInterrupt(Interrupt, timeout, ignorePrevious, ref status);
Utility.CheckStatus(status);
return((WaitResult)value);
}
/// <summary>
/// Set which edge to trigger interrupts on.
/// </summary>
/// <param name="risingEdge">True to interrupt on the rising edge</param>
/// <param name="fallingEdge">True to interrupt on the falling edge</param>
public void SetUpSourceEdge(bool risingEdge, bool fallingEdge)
{
if (Interrupt != 0)
{
int status = 0;
HALInterrupts.HAL_SetInterruptUpSourceEdge(Interrupt, risingEdge, fallingEdge, ref status);
Utility.CheckStatus(status);
}
else
{
throw new InvalidOperationException("You must call RequestInterrupts before SetUpSourceEdge");
}
}
/// <summary>
/// Cancel interrupts on this device.
/// </summary>
/// <remarks>This deallocates all the structures and disables any interrupts.</remarks>
public void CancelInterrupts()
{
if (Interrupt == 0)
{
throw new InvalidOperationException("The interrupt is not allocated.");
}
int status = 0;
HALInterrupts.HAL_CleanInterrupts(Interrupt, ref status);
Utility.CheckStatus(status);
Interrupt = 0;
}
/// <summary>
/// Disable Interrupts without deallocating structures.
/// </summary>
public void DisableInterrupts()
{
if (Interrupt == 0)
{
throw new InvalidOperationException("The interrupt is not allocated.");
}
if (IsSynchronousInterrupt)
{
throw new InvalidOperationException("You do not need to enable synchronous interrupts");
}
int status = 0;
HALInterrupts.HAL_DisableInterrupts(Interrupt, ref status);
Utility.CheckStatus(status);
}
/// <summary>
/// Allocate the interrupt.
/// </summary>
/// <param name="watcher">True if the interrupt should be called in synchronous mode
/// where the user program will have to explicitly wait for the interrupt
/// to occur.</param>
protected void AllocateInterrupts(bool watcher)
{
if (Interrupt != 0)
{
throw new AllocationException("The interrupt has already been allocated");
}
IsSynchronousInterrupt = watcher;
int status = 0;
Interrupt = HALInterrupts.HAL_InitializeInterrupts(watcher, ref status);
Utility.CheckStatus(status);
}
/// <summary>
/// Requests one of the 8 interrupts synchronously on this input.
/// </summary>
/// <remarks>Request interrupts in synchronous mode where the user program will have to explicitly
/// wait for the interrupt to occur using <see cref="WaitForInterrupt(double)">WaitForInterrupt</see>.
/// The default is interrupt on rising edges only.</remarks>
public void RequestInterrupts()
{
if (Interrupt != 0)
{
throw new AllocationException("The interrupt has already been allocated");
}
AllocateInterrupts(true);
int status = 0;
HALInterrupts.HAL_RequestInterrupts(Interrupt, PortHandleForRouting, (HALAnalogTriggerType)AnalogTriggerTypeForRouting, ref status);
Utility.CheckStatus(status);
SetUpSourceEdge(true, false);
}
/// <summary>
/// Requests one of the 8 interrupts asynchronously on this input.
/// </summary>
/// <remarks>Request interrupts in asynchronous mode where the user program interrupt handler will be
/// called when an interrupt occurs. The default is interrupt on rising edges only.</remarks>
/// <param name="handler">The callback that will be called whenever
/// there is an interrupt on this device.</param>
public void RequestInterrupts(Action handler)
{
m_function = (mask, t) => handler();
if (Interrupt != 0)
{
throw new AllocationException("The interrupt has already been allocated");
}
AllocateInterrupts(false);
m_param = null;
int status = 0;
HALInterrupts.HAL_RequestInterrupts(Interrupt, PortHandleForRouting, (HALAnalogTriggerType)AnalogTriggerTypeForRouting, ref status);
Utility.CheckStatus(status);
SetUpSourceEdge(true, false);
HALInterrupts.HAL_AttachInterruptHandler(Interrupt, m_function, IntPtr.Zero, ref status);
Utility.CheckStatus(status);
}
