PeriodicThread.hpp

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#ifndef ORG_EEROS_CORE_PERIODICTHREAD_HPP_
#define ORG_EEROS_CORE_PERIODICTHREAD_HPP_

#include <eeros/core/Thread.hpp>
#include <eeros/core/PeriodicCounter.hpp>
#include <atomic>

namespace eeros {
        
    class PeriodicThread : public Thread {
    
    public:
        enum status { running = 0, stopping = 1, stopped = 2, paused = 3 };
        
        PeriodicThread(double period, double delay = 0, bool realtime = false, status start = running, int priority = 0);
        virtual ~PeriodicThread();
        
        virtual status getStatus() const;
        virtual double getPeriod() const;
        virtual void start();
        virtual void pause();
        virtual void stop();
        
        static constexpr bool isRealtimeSupported() {
            #ifdef REALTIME_SUPPORT
                return true;
            #else
                return false;
            #endif
        }
        
        PeriodicCounter counter;
        
    private:
        double period, delay;
        bool rt;
        std::atomic<status> s;
        
        static constexpr uint64_t to_ns(double s) { return static_cast<uint64_t>(s * 1000000000); }
        static constexpr uint64_t to_us(double s) { return static_cast<uint64_t>(s * 1000000); }
        static constexpr uint64_t to_ms(double s) { return static_cast<uint64_t>(s * 1000); }
    };
};

#endif // ORG_EEROS_CORE_PERIODICTHREAD_HPP_