periodicmonitor.h

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/*
 *  rtmlib is a Real-Time Monitoring Library.
 *
 *    Copyright (C) 2018-2020 André Pedro
 *
 *  This file is part of rtmlib.
 *
 *  This program 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 program 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/>.
 */

#ifndef RTML_PERIODICMONITOR_H
#define RTML_PERIODICMONITOR_H

#include <pthread.h>
#include <stdio.h>
#include <time.h>

#ifdef __NUTTX__
#include <sched.h>
#endif

#include <errno.h>

#include "circularbuffer.h"
#include "task_compat.h"
#include "time_compat.h"

class RTML_monitor {
private:
  pthread_t thread;

  enum mon_status { ACTIVATION, RUNNING, DELAY, ABORT, ABORTED, UNACTIVATE };

  struct Monitor_state {
    const int sched_policy;

    const int priority;

    const size_t stack_size;

    mon_status status;

    pthread_mutex_t fmtx;

    pthread_cond_t cond;

    useconds_t period;

    Monitor_state(const int sch, const int prio, const useconds_t p)
        : sched_policy(sch), priority(prio), status(UNACTIVATE), period(p), stack_size(STACK_SIZE) {};

  } m_state;

  static void *loop(void *);

protected:
  virtual void run() = 0;

public:
  RTML_monitor(const useconds_t period);

  RTML_monitor(const useconds_t period, unsigned int policy,
               unsigned int priority);

  int enable();

  int disable();

  bool isRunning() const;

  const useconds_t &getPeriod() const;

  void setPeriod(const useconds_t &p);
};

#endif // RTML_PERIODICMONITOR_H