.. _program_listing_file_src_tap_architecture_periodic_timer.hpp:

Program Listing for File periodic_timer.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_architecture_periodic_timer.hpp>` (``src/tap/architecture/periodic_timer.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot 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.
    *
    * Taproot 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 Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #ifndef TAPROOT_PERIODIC_TIMER_HPP_
   #define TAPROOT_PERIODIC_TIMER_HPP_
   
   #include "tap/architecture/timeout.hpp"
   
   namespace tap
   {
   namespace arch
   {
   template <typename T>
   class PeriodicTimer
   {
   public:
       PeriodicTimer() : period(0) {}
   
       explicit PeriodicTimer(uint32_t period) : period(period), timeout(period) {}
   
       inline void restart() { timeout.restart(period); }
   
       inline void restart(uint32_t period)
       {
           this->period = period;
           restart();
       }
   
       inline void stop() { timeout.stop(); }
   
       inline bool execute()
       {
           if (timeout.execute())
           {
               uint32_t now = T::TimeFunc();
   
               do
               {
                   timeout.expireTime += period;
               } while (timeout.expireTime <= now);
   
               timeout.isRunning = true;
               timeout.isExecuted = false;
               return true;
           }
           return false;
       }
   
       inline bool isStopped() const { return timeout.isStopped(); }
   
   private:
       uint32_t period;
       T timeout;
   };
   
   using PeriodicMilliTimer = PeriodicTimer<MilliTimeout>;
   using PeriodicMicroTimer = PeriodicTimer<MicroTimeout>;
   
   }  // namespace arch
   }  // namespace tap
   
   #endif  // TAPROOT_PERIODIC_TIMER_HPP_