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55 lines
1.4 KiB
C++
55 lines
1.4 KiB
C++
#pragma once
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#include <Arduino.h>
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#include "PeriodicScheduler.h"
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namespace concurrency {
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/**
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* @brief A base class for tasks that want their doTask() method invoked periodically
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*
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* @todo currently just syntatic sugar for polling in loop (you must call .loop), but eventually
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* generalize with the freertos scheduler so we can save lots of power by having everything either in
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* something like this or triggered off of an irq.
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*/
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class PeriodicTask
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{
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uint32_t lastMsec = 0;
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uint32_t period = 1; // call soon after creation
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public:
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virtual ~PeriodicTask() { periodicScheduler.unschedule(this); }
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/**
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* Constructor (will schedule with the global PeriodicScheduler)
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*/
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PeriodicTask(uint32_t initialPeriod = 1);
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/**
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* MUST be be called once at startup (but after threading is running - i.e. not from a constructor)
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*/
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void setup();
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/**
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* Set a new period in msecs (can be called from doTask or elsewhere and the scheduler will cope)
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* While zero this task is disabled and will not run
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*/
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void setPeriod(uint32_t p)
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{
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lastMsec = millis(); // reset starting from now
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period = p;
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}
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uint32_t getPeriod() const { return period; }
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/**
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* Syntatic sugar for suspending tasks
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*/
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void disable();
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protected:
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virtual void doTask() = 0;
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};
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} // namespace concurrency
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