ardupilot/libraries/AP_HAL/EventHandle.h

45 lines
1.2 KiB
C++

#pragma once
#include "AP_HAL_Namespace.h"
#include <stdint.h>
#include "AP_HAL_Boards.h"
class AP_HAL::EventSource {
public:
// generate event from thread context
virtual void signal(uint32_t evt_mask) = 0;
// generate event from interrupt context
virtual void signalI(uint32_t evt_mask) { signal(evt_mask); }
// Wait on an Event handle, method for internal use by EventHandle
virtual bool wait(uint64_t duration, AP_HAL::EventHandle* evt_handle) = 0;
};
class AP_HAL::EventHandle {
public:
//Set event source
virtual bool set_source(AP_HAL::EventSource* src);
AP_HAL::EventSource* get_source() { return evt_src_; }
// return true if event type was successfully registered
virtual bool register_event(uint32_t evt_mask);
// return true if event type was successfully unregistered
virtual bool unregister_event(uint32_t evt_mask);
// return true if event was triggered within the duration
virtual bool wait(uint64_t duration);
virtual uint32_t get_evt_mask() const { return evt_mask_; }
private:
// Mask of events to be handeled,
// Max 32 events can be handled per event handle
uint32_t evt_mask_;
AP_HAL::EventSource *evt_src_;
HAL_Semaphore sem;
};