wpi::Notifier Class Reference

Notifiers run a user-provided callback function on a separate thread. More...

#include <wpi/system/Notifier.hpp>

Public Member Functions
	Notifier (std::function< void()> callback)
	Create a Notifier with the given callback.
template<typename Arg, typename... Args>
	Notifier (std::invocable< Arg, Args... > auto &&callback, Arg &&arg, Args &&... args)
	Notifier (int priority, std::function< void()> callback)
	Create a Notifier with the given callback.
template<typename Arg, typename... Args>
	Notifier (int priority, std::invocable< Arg, Args... > auto &&callback, Arg &&arg, Args &&... args)
	~Notifier ()
	Free the resources for a timer event.
	Notifier (Notifier &&rhs)
Notifier &	operator= (Notifier &&rhs)
void	SetName (std::string_view name)
	Sets the name of the notifier.
void	SetCallback (std::function< void()> callback)
	Change the callback function.
void	StartSingle (wpi::units::second_t delay)
	Run the callback once after the given delay.
void	StartPeriodic (wpi::units::second_t period)
	Run the callback periodically with the given period.
void	StartPeriodic (wpi::units::hertz_t frequency)
	Run the callback periodically with the given frequency.
void	Stop ()
	Stop further callback invocations.
int32_t	GetOverrun () const
	Gets the overrun count.

Detailed Description

Notifiers run a user-provided callback function on a separate thread.

If StartSingle() is used, the callback will run once. If StartPeriodic() is used, the callback will run repeatedly with the given period until stop() is called.

Constructor & Destructor Documentation

Notifier() [1/5]

wpi::Notifier::Notifier ( std::function< void()> callback )

inlineexplicit

Create a Notifier with the given callback.

Configure when the callback runs with StartSingle() or StartPeriodic().

Parameters

callback

The callback to run.

Notifier() [2/5]

template<typename Arg, typename... Args>

wpi::Notifier::Notifier ( std::invocable< Arg, Args... > auto && callback, Arg && arg, Args &&... args )

inline

Notifier() [3/5]

wpi::Notifier::Notifier ( int priority, std::function< void()> callback )

explicit

Create a Notifier with the given callback.

Configure when the callback runs with StartSingle() or StartPeriodic().

This overload makes the underlying thread run with a real-time priority. This is useful for reducing scheduling jitter on processes which are sensitive to timing variance, like model-based control.

Parameters

priority	The FIFO real-time scheduler priority ([1..99] where a higher number represents higher priority). See "man 7 sched" for more details.
callback	The callback to run.

Notifier() [4/5]

template<typename Arg, typename... Args>

wpi::Notifier::Notifier ( int priority, std::invocable< Arg, Args... > auto && callback, Arg && arg, Args &&... args )

inline

~Notifier()

wpi::Notifier::~Notifier

(

)

Free the resources for a timer event.

Notifier() [5/5]

wpi::Notifier::Notifier

(

Notifier &&

rhs

)

Member Function Documentation

GetOverrun()

int32_t wpi::Notifier::GetOverrun

(

)

const

Gets the overrun count.

An overrun occurs when a notifier's alarm is not serviced before the next scheduled alarm time.

Returns

overrun count

operator=()

Notifier & wpi::Notifier::operator=

(

Notifier &&

rhs

)

SetCallback()

void wpi::Notifier::SetCallback

(

std::function< void()>

callback

)

Change the callback function.

Parameters

callback

The callback function.

SetName()

void wpi::Notifier::SetName

(

std::string_view

name

)

Sets the name of the notifier.

Used for debugging purposes only.

Parameters

name

Name

StartPeriodic() [1/2]

void wpi::Notifier::StartPeriodic

(

wpi::units::hertz_t

frequency

)

Run the callback periodically with the given frequency.

The user-provided callback should be written so that it completes before the next time it's scheduled to run.

Parameters

frequency

Frequency after which to call the callback starting one period after the call to this method.

StartPeriodic() [2/2]

void wpi::Notifier::StartPeriodic

(

wpi::units::second_t

period

)

Run the callback periodically with the given period.

The user-provided callback should be written so that it completes before the next time it's scheduled to run.

Parameters

period

Period after which to call the callback starting one period after the call to this method.

StartSingle()

void wpi::Notifier::StartSingle

(

wpi::units::second_t

delay

)

Run the callback once after the given delay.

Parameters

delay

Time to wait before the callback is called.

Stop()

void wpi::Notifier::Stop

(

)

Stop further callback invocations.

No further periodic callbacks will occur. Single invocations will also be cancelled if they haven't yet occurred.

If a callback invocation is in progress, this function will block until the callback is complete.

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The documentation for this class was generated from the following file:

• wpi/system/Notifier.hpp