Periodic.hh

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#ifndef COSA_PERIODIC_HH
#define COSA_PERIODIC_HH

#include "Cosa/Types.h"
#include "Cosa/Job.hh"

class Periodic : public Job {
public:
  Periodic(Job::Scheduler* scheduler, uint32_t period) :
    Job(scheduler),
    m_period(period)
  {}

  void period(uint32_t time)
    __attribute__((always_inline))
  {
    m_period = time;
  }

  uint32_t period() const
    __attribute__((always_inline))
  {
    return (m_period);
  }

  void reschedule()
  {
    if (m_period == 0) return;
    expire_after(m_period);
    start();
  }

protected:
  virtual void on_event(uint8_t type, uint16_t value)
  {
    UNUSED(value);
    if (UNLIKELY(type != Event::TIMEOUT_TYPE)) return;
    run();
    reschedule();
  }

  uint32_t m_period;
};

#define periodic(timer,ms)                                              \
  static uint32_t timer = RTT::millis();                                \
  for (int __UNIQUE(i) = 1;                                             \
       (__UNIQUE(i) != 0) && ((RTT::since(timer)) >= ms);               \
       __UNIQUE(i)--, timer += ms)

#define PERIODIC(timer,us)                                              \
  static uint32_t timer = RTT::micros();                                \
  for (int __UNIQUE(i) = 1;                                             \
       (__UNIQUE(i) != 0) && ((RTT::micros() - timer) >= us);           \
       __UNIQUE(i)--, timer += us)

#endif