Scheduler

libuavcan/include/uavcan/timer.hpp

@@ -0,0 +1,87 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <uavcan/internal/util.hpp>
+#include <uavcan/internal/linked_list.hpp>
+
+namespace uavcan
+{
+
+class Scheduler;
+class TimerBase;
+
+struct TimerEvent
+{
+    uint64_t scheduled_monotonic_deadline;
+    uint64_t monotonic_timestamp;
+    TimerBase* timer;
+
+    TimerEvent(uint64_t scheduled_monotonic_deadline, uint64_t monotonic_timestamp, TimerBase& timer)
+    : scheduled_monotonic_deadline(scheduled_monotonic_deadline)
+    , monotonic_timestamp(monotonic_timestamp)
+    , timer(&timer)
+    { }
+};
+
+
+class TimerBase : public LinkedListNode<TimerBase>, Noncopyable
+{
+    friend class Scheduler;
+
+    uint64_t monotonic_deadline_;
+    uint64_t period_;
+    Scheduler& scheduler_;
+
+    void handleOneShotTimeout(uint64_t ts_monotonic);
+    void genericStart();
+
+public:
+    static const uint64_t InfinitePeriod = 0xFFFFFFFFFFFFFFFFUL;
+
+    TimerBase(Scheduler& scheduler)
+    : monotonic_deadline_(0)
+    , period_(InfinitePeriod)
+    , scheduler_(scheduler)
+    { }
+
+    virtual ~TimerBase() { stop(); }
+
+    uint64_t getMonotonicDeadline() const { return monotonic_deadline_; }
+
+    void startOneShotDeadline(uint64_t monotonic_deadline_usec);
+    void startOneShotDelay(uint64_t delay_usec);
+    void startPeriodic(uint64_t period_usec);
+
+    void stop();
+    bool isRunning() const;
+
+    uint64_t getPeriod() const { return period_; }
+
+    virtual void onTimerEvent(TimerEvent& event) = 0;
+};
+
+
+template <typename Functor>
+class Timer : public TimerBase
+{
+    Functor functor_;
+
+public:
+    Timer(Scheduler& node, Functor functor)
+    : TimerBase(node)
+    , functor_(functor)
+    { }
+
+    const Functor& getFunctor() const { return functor_; }
+
+    void onTimerEvent(TimerEvent& event)
+    {
+        functor_(event);
+    }
+};
+
+}