Line data    Source code

       1             : /*
       2             :  * Copyright (C) 2016  Intel Corporation. All rights reserved.
       3             :  *
       4             :  * This file is free software: you can redistribute it and/or modify it
       5             :  * under the terms of the GNU General Public License as published by the
       6             :  * Free Software Foundation, either version 3 of the License, or
       7             :  * (at your option) any later version.
       8             :  *
       9             :  * This file is distributed in the hope that it will be useful, but
      10             :  * WITHOUT ANY WARRANTY; without even the implied warranty of
      11             :  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
      12             :  * See the GNU General Public License for more details.
      13             :  *
      14             :  * You should have received a copy of the GNU General Public License along
      15             :  * with this program.  If not, see <http://www.gnu.org/licenses/>.
      16             :  */
      17             : #pragma once
      18             : 
      19             : #include <inttypes.h>
      20             : #include <vector>
      21             : 
      22             : #include <AP_HAL/Device.h>
      23             : 
      24             : #include "Poller.h"
      25             : #include "Thread.h"
      26             : 
      27             : namespace Linux {
      28             : 
      29             : class TimerPollable : public Pollable {
      30             :     friend class PollerThread;
      31             : 
      32             : public:
      33             :     class WrapperCb {
      34             :     public:
      35           0 :         virtual ~WrapperCb() { }
      36             : 
      37           0 :         virtual void start_cb() { }
      38           0 :         virtual void end_cb() { }
      39             :     };
      40             : 
      41             :     using PeriodicCb = AP_HAL::Device::PeriodicCb;
      42             : 
      43           0 :     virtual ~TimerPollable() { }
      44             : 
      45             :     void on_can_read() override;
      46             : 
      47             :     bool setup_timer(uint32_t timeout_usec);
      48             :     bool adjust_timer(uint32_t timeout_usec);
      49             : 
      50             : protected:
      51           0 :     TimerPollable(PeriodicCb cb, WrapperCb *wrapper)
      52           0 :         : _cb(cb)
      53           0 :         , _wrapper(wrapper)
      54             :     {
      55           0 :     }
      56             : 
      57             :     PeriodicCb _cb;
      58             :     WrapperCb *_wrapper;
      59             :     bool _removeme = false;
      60             : };
      61             : 
      62             : 
      63             : class PollerThread : public Thread {
      64             : public:
      65           1 :     PollerThread() : Thread{FUNCTOR_BIND_MEMBER(&PollerThread::mainloop, void)} { }
      66           1 :     virtual ~PollerThread() { }
      67             : 
      68             :     TimerPollable *add_timer(TimerPollable::PeriodicCb cb,
      69             :                              TimerPollable::WrapperCb *wrapper,
      70             :                              uint32_t timeout_usec);
      71             :     bool adjust_timer(TimerPollable *p, uint32_t timeout_usec);
      72             : 
      73             :     void mainloop();
      74             : 
      75             :     bool stop() override;
      76             : 
      77             : protected:
      78             :     void _cleanup_timers();
      79             : 
      80             :     Poller _poller{};
      81             :     std::vector<TimerPollable*> _timers{};
      82             : };
      83             : 
      84             : }