58 lines
1.8 KiB
C
58 lines
1.8 KiB
C
|
/*----------------------------------------------------------------------------*/
|
||
|
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
||
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||
|
|
/* the project. */
|
||
|
|
/*----------------------------------------------------------------------------*/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include <functional>
|
||
|
|
|
||
|
|
#include "ErrorBase.h"
|
||
|
|
#include "HAL/cpp/priority_mutex.h"
|
||
|
|
|
||
|
|
typedef std::function<void()> TimerEventHandler;
|
||
|
|
|
||
|
|
class Notifier : public ErrorBase {
|
||
|
|
public:
|
||
|
|
explicit Notifier(TimerEventHandler handler);
|
||
|
|
|
||
|
|
template <typename Callable, typename Arg, typename... Args>
|
||
|
|
Notifier(Callable&& f, Arg&& arg, Args&&... args)
|
||
|
|
: Notifier(std::bind(std::forward<Callable>(f),
|
||
|
|
std::forward<Arg>(arg),
|
||
|
|
std::forward<Args>(args)...)) {}
|
||
|
|
|
||
|
|
virtual ~Notifier();
|
||
|
|
|
||
|
|
Notifier(const Notifier&) = delete;
|
||
|
|
Notifier& operator=(const Notifier&) = delete;
|
||
|
|
|
||
|
|
void StartSingle(double delay);
|
||
|
|
void StartPeriodic(double period);
|
||
|
|
void Stop();
|
||
|
|
|
||
|
|
private:
|
||
|
|
// update the HAL alarm
|
||
|
|
void UpdateAlarm();
|
||
|
|
// HAL callback
|
||
|
|
static void Notify(uint64_t currentTimeInt, void *param);
|
||
|
|
|
||
|
|
// held while updating process information
|
||
|
|
priority_mutex m_processMutex;
|
||
|
|
// HAL handle
|
||
|
|
void *m_notifier;
|
||
|
|
// address of the handler
|
||
|
|
TimerEventHandler m_handler;
|
||
|
|
// the absolute expiration time
|
||
|
|
double m_expirationTime = 0;
|
||
|
|
// the relative time (either periodic or single)
|
||
|
|
double m_period = 0;
|
||
|
|
// true if this is a periodic event
|
||
|
|
bool m_periodic = false;
|
||
|
|
|
||
|
|
// held by interrupt manager task while handler call is in progress
|
||
|
|
priority_mutex m_handlerMutex;
|
||
|
|
};
|