EventHandler.h

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/* Copyright (c) 2015-2018 Skyward Experimental Rocketry
 * Author: Luca Erbetta
 *
 * 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 <events/Event.h>
#include <utils/Debug.h>
#include <utils/collections/SyncQueue.h>
 
#include "ActiveObject.h"
 
namespace Boardcore
{
 
class EventHandlerBase
{
public:
    EventHandlerBase() {}
 
    virtual ~EventHandlerBase() {};
 
    virtual void postEvent(const Event& ev) = 0;
};
 
class EventHandler : public EventHandlerBase, public ActiveObject
{
public:
    EventHandler(unsigned int stacksize    = miosix::STACK_DEFAULT_FOR_PTHREAD,
                 miosix::Priority priority = miosix::MAIN_PRIORITY);
 
    virtual ~EventHandler();
 
    void postEvent(const Event& ev) override;
 
    void stop() override;
 
protected:
    virtual void handleEvent(const Event& ev) = 0;
 
    void run() override;
 
    SynchronizedQueue<Event> eventList;
};
 
inline EventHandler::EventHandler(unsigned int stacksize,
                                  miosix::Priority priority)
    : ActiveObject(stacksize, priority)
{
}
 
inline EventHandler::~EventHandler() {};
 
inline void EventHandler::postEvent(const Event& ev) { eventList.put(ev); }
 
inline void EventHandler::stop()
{
    if (isRunning())
    {
        stopFlag = true;
 
        // Put empty event in the list to wake the runner thread
        eventList.put(Event{EV_EMPTY});
 
        thread->join();
    }
}
 
inline void EventHandler::run()
{
    while (!shouldStop())
    {
        Event e = eventList.get();
        handleEvent(e);
    }
}
 
}  // namespace Boardcore