Program Listing for File conditional_timer.hpp

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/*
 * 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_CONDITIONAL_TIMER_HPP_
#define TAPROOT_CONDITIONAL_TIMER_HPP_

#include <cstdint>

#include "timeout.hpp"

namespace tap
{
namespace arch
{
template <class Timeout>
class ConditionalTimer
{
public:
    explicit ConditionalTimer(uint32_t timeout) : timeout(timeout) {}

    inline void restart() { timer.restart(timeout); }

    inline void restart(uint32_t newTimeout)
    {
        timeout = newTimeout;
        timer.restart(newTimeout);
    }

    inline void stop() { timer.stop(); }

    inline bool execute(bool condition)
    {
        if (!condition)
        {
            timer.restart(timeout);
        }
        return timer.isExpired();
    }

    inline bool isStopped() { return timer.isStopped(); }

private:
    Timeout timer;
    uint32_t timeout;
};

using ConditionalMilliTimer = ConditionalTimer<MilliTimeout>;

}  // namespace arch

}  // namespace tap

#endif