C++11 Timer API

libuavcan/include/uavcan/node/timer.hpp

@@ -5,12 +5,21 @@
 #pragma once
 
 #include <uavcan/stdint.hpp>
+#include <uavcan/impl_constants.hpp>
 #include <uavcan/node/scheduler.hpp>
-#include <uavcan/util/compile_time.hpp>
 #include <uavcan/node/abstract_node.hpp>
+#include <uavcan/util/compile_time.hpp>
 #include <uavcan/linked_list.hpp>
 #include <uavcan/fatal_error.hpp>
 
+#if !defined(UAVCAN_CPP11) || !defined(UAVCAN_CPP_VERSION)
+# error UAVCAN_CPP_VERSION
+#endif
+
+#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
+# include <functional>
+#endif
+
 namespace uavcan
 {
 
@@ -87,4 +96,28 @@ public:
     void setCallback(const Callback& callback) { callback_ = callback; }
 };
 
+
+#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
+
+class Timer : public TimerBase
+{
+    void handleTimerEvent(const TimerEvent& event);
+
+public:
+    typedef std::function<void (const TimerEvent& event)> Callback;
+
+    explicit Timer(INode& node)
+        : TimerBase(node)
+    { }
+
+    Timer(INode& node, const Callback& callback)
+        : TimerBase(node)
+        , callback(callback)
+    { }
+
+    Callback callback;
+};
+
+#endif
+
 }

libuavcan/src/node/timer.cpp

@@ -7,7 +7,9 @@
 
 namespace uavcan
 {
-
+/*
+ * TimerBase
+ */
 void TimerBase::handleDeadline(MonotonicTime current)
 {
     assert(!isRunning());
@@ -45,4 +47,23 @@ void TimerBase::startPeriodic(MonotonicDuration period)
     DeadlineHandler::startWithDelay(period);
 }
 
+/*
+ * Timer
+ */
+#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
+
+void Timer::handleTimerEvent(const TimerEvent& event)
+{
+    if (callback)
+    {
+        callback(event);
+    }
+    else
+    {
+        assert(0);
+    }
+}
+
+#endif
+
 }

libuavcan/test/node/scheduler.cpp

@@ -9,6 +9,10 @@
 #include "../transport/can/can.hpp"
 #include "test_node.hpp"
 
+#if !defined(UAVCAN_CPP11) || !defined(UAVCAN_CPP_VERSION)
+# error UAVCAN_CPP_VERSION
+#endif
+
 struct TimerCallCounter
 {
     std::vector<uavcan::TimerEvent> events_a;
@@ -82,6 +86,31 @@ TEST(Scheduler, Timers)
         ASSERT_EQ(1000, b.getPeriod().toUSec());
     }
 
-    ASSERT_EQ(0, node.getScheduler().getDeadlineScheduler().getNumHandlers()); // Both timers were destroyed now
-    ASSERT_EQ(0, node.spin(durMono(1000)));       // Spin some more without timers
+    ASSERT_EQ(0, node.getScheduler().getDeadlineScheduler().getNumHandlers()); // Both timers were destroyed by now
+    ASSERT_EQ(0, node.spin(durMono(1000)));                                    // Spin some more without timers
 }
+
+#if UAVCAN_CPP_VERSION >= UAVCAN_CPP11
+
+TEST(Scheduler, TimerCpp11)
+{
+    SystemClockDriver clock_driver;
+    CanDriverMock can_driver(2, clock_driver);
+    TestNode node(can_driver, clock_driver, 1);
+
+    int count = 0;
+
+    uavcan::Timer tm(node, [&count](const uavcan::TimerEvent&) { count++; });
+
+    ASSERT_EQ(0, node.getScheduler().getDeadlineScheduler().getNumHandlers());
+    tm.startPeriodic(uavcan::MonotonicDuration::fromMSec(10));
+    ASSERT_EQ(1, node.getScheduler().getDeadlineScheduler().getNumHandlers());
+
+    ASSERT_EQ(0, node.spin(uavcan::MonotonicDuration::fromMSec(100)));
+
+    std::cout << count << std::endl;
+    ASSERT_LE(5, count);
+    ASSERT_GE(15, count);
+}
+
+#endif