periodic_timer.hpp

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/*****************************************************************************/
/********** !!! WARNING: CODE GENERATED BY TAPROOT. DO NOT EDIT !!! **********/
/*****************************************************************************/
 
/*
 * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
 *
 * This file is part of Taproot.
 *
 * Taproot is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Taproot is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
 */
 
#ifndef TAPROOT_PERIODIC_TIMER_HPP_
#define TAPROOT_PERIODIC_TIMER_HPP_
 
#include "tap/architecture/timeout.hpp"
 
namespace tap
{
namespace arch
{
template <typename T>
class PeriodicTimer
{
public:
    PeriodicTimer() : period(0) {}
 
    explicit PeriodicTimer(uint32_t period) : period(period), timeout(period) {}
 
    inline void restart() { timeout.restart(period); }
 
    inline void restart(uint32_t period)
    {
        this->period = period;
        restart();
    }
 
    inline void stop() { timeout.stop(); }
 
    inline bool execute()
    {
        if (timeout.execute())
        {
            uint32_t now = T::TimeFunc();
 
            do
            {
                timeout.expireTime += period;
            } while (timeout.expireTime <= now);
 
            timeout.isRunning = true;
            timeout.isExecuted = false;
            return true;
        }
        return false;
    }
 
    inline bool isStopped() const { return timeout.isStopped(); }
 
private:
    uint32_t period;
    T timeout;
};
 
using PeriodicMilliTimer = PeriodicTimer<MilliTimeout>;
using PeriodicMicroTimer = PeriodicTimer<MicroTimeout>;
 
}  // namespace arch
}  // namespace tap
 
#endif  // TAPROOT_PERIODIC_TIMER_HPP_