mirror of https://github.com/ArduPilot/ardupilot
45 lines
1.2 KiB
C++
45 lines
1.2 KiB
C++
#pragma once
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#include "AP_HAL_Namespace.h"
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#include <stdint.h>
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#include "AP_HAL_Boards.h"
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class AP_HAL::EventSource {
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public:
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// generate event from thread context
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virtual void signal(uint32_t evt_mask) = 0;
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// generate event from interrupt context
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virtual void signalI(uint32_t evt_mask) { signal(evt_mask); }
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// Wait on an Event handle, method for internal use by EventHandle
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virtual bool wait(uint16_t duration_us, AP_HAL::EventHandle* evt_handle) = 0;
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};
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class AP_HAL::EventHandle {
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public:
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//Set event source
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virtual bool set_source(AP_HAL::EventSource* src);
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AP_HAL::EventSource* get_source() { return evt_src_; }
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// return true if event type was successfully registered
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virtual bool register_event(uint32_t evt_mask);
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// return true if event type was successfully unregistered
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virtual bool unregister_event(uint32_t evt_mask);
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// return true if event was triggered within the duration
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virtual bool wait(uint16_t duration_us);
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virtual uint32_t get_evt_mask() const { return evt_mask_; }
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private:
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// Mask of events to be handeled,
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// Max 32 events can be handled per event handle
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uint32_t evt_mask_;
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AP_HAL::EventSource *evt_src_;
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HAL_Semaphore sem;
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};
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