mirror of https://github.com/ArduPilot/ardupilot
83 lines
2.0 KiB
C++
83 lines
2.0 KiB
C++
/*
|
|
* Copyright (C) 2016 Intel Corporation. All rights reserved.
|
|
*
|
|
* This file 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.
|
|
*
|
|
* This file 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 this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include <inttypes.h>
|
|
#include <vector>
|
|
|
|
#include <AP_HAL/Device.h>
|
|
|
|
#include "Poller.h"
|
|
#include "Thread.h"
|
|
|
|
namespace Linux {
|
|
|
|
class TimerPollable : public Pollable {
|
|
friend class PollerThread;
|
|
|
|
public:
|
|
class WrapperCb {
|
|
public:
|
|
virtual ~WrapperCb() { }
|
|
|
|
virtual void start_cb() { }
|
|
virtual void end_cb() { }
|
|
};
|
|
|
|
using PeriodicCb = AP_HAL::Device::PeriodicCb;
|
|
|
|
virtual ~TimerPollable() { }
|
|
|
|
void on_can_read() override;
|
|
|
|
bool setup_timer(uint32_t timeout_usec);
|
|
bool adjust_timer(uint32_t timeout_usec);
|
|
|
|
protected:
|
|
TimerPollable(PeriodicCb cb, WrapperCb *wrapper)
|
|
: _cb(cb)
|
|
, _wrapper(wrapper)
|
|
{
|
|
}
|
|
|
|
PeriodicCb _cb;
|
|
WrapperCb *_wrapper;
|
|
bool _removeme;
|
|
};
|
|
|
|
|
|
class PollerThread : public Thread {
|
|
public:
|
|
PollerThread() : Thread{FUNCTOR_BIND_MEMBER(&PollerThread::mainloop, void)} { }
|
|
virtual ~PollerThread() { }
|
|
|
|
TimerPollable *add_timer(TimerPollable::PeriodicCb cb,
|
|
TimerPollable::WrapperCb *wrapper,
|
|
uint32_t timeout_usec);
|
|
bool adjust_timer(TimerPollable *p, uint32_t timeout_usec);
|
|
|
|
void mainloop();
|
|
|
|
protected:
|
|
void _cleanup_timers();
|
|
|
|
Poller _poller{};
|
|
std::vector<TimerPollable*> _timers;
|
|
};
|
|
|
|
}
|