rtos2-utils/include/sta/rtos/timer.hpp

/**
 * @file
 * @brief RTOS timer implementation.
 */

#ifndef STA_RTOS_TIMER_HPP
#define STA_RTOS_TIMER_HPP

#include <cmsis_os2.h>
#include <sta/timer.hpp>

#include <functional>
#include "cmsis_os2.h"


namespace sta
{
	/**
	 * @brief Implementation of Timer using CMSIS RTOS2.
	 *
	 * @ingroup STA_RTOS_API
	 * 
	 * @defgroup STA_RTOS_TIMER Timer
	 */
	class RtosTimer : public Timer
	{
	public:
		/**
		 * @brief Creates a new timer with a given callback function.
		 *
		 * @param callback 	The callback function to call upon timer timeout.
		 * @param arg 		The argument to pass to the callback function.
		 * @param repeating True if the timer should repeat. False if it should only run once.
		 */
		RtosTimer(std::function<void(void*)>, void *arg, bool repeating = false);

		/**
		 * @brief Initializes the timer with a callback that has no effect.
		 */
		RtosTimer();

        ~RtosTimer();
	public:
        /**
         * @brief Change the timer's callback to a new function.
         *
         * @param callback 	The callback function to call upon timer timeout.
		 * @param arg 		The argument to pass to the callback function.
         */
        void setCallback(std::function<void(void*)> callback, void *arg);

        /**
         * @brief Run the timer for a given number of milliseconds.
         *
         * @param millis	The number of milliseconds to run the timer for.
         */
		void start(uint32_t millis) override;

		/**
		 * @brief Stop the timer.
		 */
		void stop() override;

		/**
		 * @returns True of the timmer is currently running.
		 */
		bool isRunning() override;

	private:
		static void timeoutHandler(void* arg);

	private:
		osTimerId_t timer_id_;                  /**< CMSIS RTOS2 Timer */
        osTimerAttr_t timer_attr_;         		/**< CMSIS RTOS2 Timer attributes */

        std::function<void(void*)> callback_;	/**< The callback to call on timeout. */
        void* callbackArg_;						/**< The argument to pass to the callback. */
        bool running_;							/**< The current state of the timer. Running or not? */
	};
} // namespace sta

#endif // STA_RTOS_TIMER_HPP