SignaledDeadlineTask.h

Go to the documentation of this file.

/* Copyright (c) 2025 Skyward Experimental Rocketry
 * Authors: Pietro Bortolus, Niccolò Betto
 *
 * 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 <ActiveObject.h>
 
#include <chrono>
#include <condition_variable>
#include <mutex>
 
namespace Boardcore
{
class SignaledDeadlineTask : public ActiveObject
{
public:
    using Clock     = std::chrono::system_clock;
    using TimePoint = std::chrono::time_point<Clock>;
 
    SignaledDeadlineTask(
        unsigned int stackSize    = miosix::STACK_DEFAULT_FOR_PTHREAD,
        miosix::Priority priority = miosix::MAIN_PRIORITY)
        : ActiveObject(stackSize, priority)
    {
    }
 
    void signalTask()
    {
        std::unique_lock<std::mutex> lock(mutex);
        signaled = true;
        condvar.notify_all();
    }
 
    virtual TimePoint nextTaskDeadline() = 0;
 
    virtual void task() = 0;
 
protected:
    void run() override
    {
        while (!shouldStop())
        {
            // Get the time when the task should run next
            auto deadline = nextTaskDeadline();
 
            // Lock the mutex in the smallest scope possible
            {
                std::unique_lock<std::mutex> lock(mutex);
                // Wait until the next deadline or until signaled
                condvar.wait_until(lock, deadline, [this] { return signaled; });
                // Reset the signaled flag
                signaled = false;
            }
 
            // Run the task
            task();
        }
    }
 
private:
    bool signaled = false;  
    std::mutex mutex;
    std::condition_variable condvar;
};
}  // namespace Boardcore