Reorganized directory structure - directory 'internal' pulled up one level. No logical changes.

libuavcan/include/uavcan/node/timer.hpp

@@ -0,0 +1,85 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <uavcan/node/scheduler.hpp>
+#include <uavcan/util/compile_time.hpp>
+#include <uavcan/linked_list.hpp>
+#include <uavcan/fatal_error.hpp>
+
+namespace uavcan
+{
+
+class Timer;
+
+struct TimerEvent
+{
+    MonotonicTime scheduled_time;
+    MonotonicTime real_time;
+
+    TimerEvent(MonotonicTime scheduled_time, MonotonicTime real_time)
+    : scheduled_time(scheduled_time)
+    , real_time(real_time)
+    { }
+};
+
+
+class Timer : private DeadlineHandler
+{
+    MonotonicDuration period_;
+
+    void handleDeadline(MonotonicTime current_timestamp);
+
+public:
+    using DeadlineHandler::stop;
+    using DeadlineHandler::isRunning;
+    using DeadlineHandler::getDeadline;
+    using DeadlineHandler::getScheduler;
+
+    explicit Timer(Scheduler& scheduler)
+    : DeadlineHandler(scheduler)
+    , period_(MonotonicDuration::getInfinite())
+    { }
+
+    void startOneShotWithDeadline(MonotonicTime deadline);
+    void startOneShotWithDelay(MonotonicDuration delay);
+    void startPeriodic(MonotonicDuration period);
+
+    MonotonicDuration getPeriod() const { return period_; }
+
+    virtual void handleTimerEvent(const TimerEvent& event) = 0;
+};
+
+
+template <typename Callback>
+class TimerEventForwarder : public Timer
+{
+    Callback callback_;
+
+public:
+    explicit TimerEventForwarder(Scheduler& node)
+    : Timer(node)
+    , callback_()
+    { }
+
+    TimerEventForwarder(Scheduler& node, Callback callback)
+    : Timer(node)
+    , callback_(callback)
+    { }
+
+    const Callback& getCallback() const { return callback_; }
+    void setCallback(const Callback& callback) { callback_ = callback; }
+
+    void handleTimerEvent(const TimerEvent& event)
+    {
+        if (try_implicit_cast<bool>(callback_, true))
+            callback_(event);
+        else
+            handleFatalError("Invalid timer callback");
+    }
+};
+
+}