EventBroker.h

Go to the documentation of this file.

/* Copyright (c) 2015-2018 Skyward Experimental Rocketry
 * Authors: Luca Erbetta, Matteo Piazzolla
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <assert.h>
#include <diagnostic/PrintLogger.h>
#include <events/Event.h>
#include <events/FSM.h>
#include <miosix.h>
 
#include <cstdint>
#include <map>
#include <vector>
 
#include "ActiveObject.h"
#include "Singleton.h"
 
using std::map;
using std::vector;
 
using miosix::FastMutex;
using miosix::Lock;
using miosix::Thread;
using miosix::Unlock;
 
namespace Boardcore
{
 
// Minimum guaranteed delay for an event posted with postDelayed(...) in ms
static constexpr unsigned int EVENT_BROKER_MIN_DELAY = 50;
 
class EventBroker : public Singleton<EventBroker>, public ActiveObject
{
    friend class Singleton<EventBroker>;
 
public:
    void post(const Event& ev, uint8_t topic,
              EventHandlerBase* subscriber = nullptr);
 
    uint16_t postDelayed(const Event& ev, uint8_t topic, unsigned int delayMs);
 
    void removeDelayed(uint16_t id);
 
    void subscribe(EventHandlerBase* subscriber, uint8_t topic);
 
    void unsubscribe(EventHandlerBase* subscriber, uint8_t topic);
 
    void unsubscribe(EventHandlerBase* subscriber);
 
    void clearDelayedEvents();
 
    EventBroker();
 
private:
    struct DelayedEvent
    {
        uint16_t schedId;
        Event event;
        uint8_t topic;
        long long deadline;
    };
 
    void run() override;
 
    void deleteSubscriber(vector<EventHandlerBase*>& subVector,
                          EventHandlerBase* subscriber);
 
    vector<DelayedEvent> delayedEvents;
    FastMutex mtxDelayedEvents;
 
    map<uint8_t, vector<EventHandlerBase*>> subscribers;
    FastMutex mtxSubscribers;
 
    uint16_t eventCounter = 0;
 
    PrintLogger logger = Logging::getLogger("eventbroker");
};
 
}  // namespace Boardcore