Shivam: Timers Wrapper Code Review #49
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@@ -39,4 +39,4 @@ class DMAController | |
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| }; | ||
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| #endif /* AVIONICS_INCLUDE_SOAR_CORE_DMA_CONTROLLER_BASE_H */ | ||
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@@ -50,4 +50,4 @@ class Queue{ | |
| uint16_t queueDepth; // Max queue depth | ||
| }; | ||
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| #endif /* AVIONICS_INCLUDE_SOAR_CORE_QUEUE_H */ | ||
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| @@ -1,34 +1,226 @@ | ||
| #include "SystemDefines.hpp" | ||
| #include "Timer.hpp" | ||
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| /** | ||
| ****************************************************************************** | ||
| * File Name : Timer.cpp | ||
| * Description : FreeRTOS Timer Wrapper | ||
| ****************************************************************************** | ||
| */ | ||
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| /** | ||
| * Default constructor makes a timer that can only be polled for state | ||
| * Default behaviour : ->Autoreload is set to false (One shot Timer) | ||
| * ->Timer Period is 1000ms | ||
| * ->The Callback function simply changes state to COMPLETE and has no other functionality | ||
| */ | ||
| Timer::Timer() | ||
| { | ||
| // We make a timer named "Timer" with a callback function that does nothing, Autoreload false, and the default period of 1s. | ||
| // The timer ID is specified as (void *)this to provide a unique ID for each timer object - however this is not necessary for polling timers. | ||
| // The timer is created in the dormant state. | ||
| rtTimerHandle = xTimerCreate("Timer", DEFAULT_TIMER_PERIOD, pdFALSE, (void *)this, CallbackFunction); | ||
| SOAR_ASSERT(rtTimerHandle, "Error Occurred, Timer not created"); | ||
| timerState = UNINITIALIZED; | ||
| } | ||
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| /** | ||
| * Constructor for callback enabled timer | ||
| * ! User has to add "Timer::CallbackFunction(rtTimerHandle);" in the callback function for accurate functioning of Timer States | ||
| * Default behaviour : ->Autoreload is set to false (One shot Timer) | ||
| * ->Timer Period is 1000ms | ||
| * ->The Callback function will be provided by the user while making sure to follow instruction above | ||
| */ | ||
| Timer::Timer(void (*TimerCallbackFunction_t)( TimerHandle_t xTimer )) | ||
| { | ||
| rtTimerHandle = xTimerCreate("Timer", DEFAULT_TIMER_PERIOD, pdFALSE, (void *)this, TimerCallbackFunction_t); | ||
| SOAR_ASSERT(rtTimerHandle, "Error Occurred, Timer not created"); | ||
| timerState = UNINITIALIZED; | ||
| } | ||
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| /** | ||
| * @brief Default de-constructor makes a timer that can only be polled for state | ||
| */ | ||
| Timer::~Timer() | ||
| { | ||
| if (xTimerDelete(rtTimerHandle, DEFAULT_TIMER_COMMAND_WAIT_PERIOD*2) == pdPASS) { | ||
| SOAR_PRINT("Timer has been deleted \n\n"); | ||
| } | ||
| } | ||
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| /** | ||
| * @brief Callback function for polling timers | ||
| */ | ||
| void Timer::CallbackFunction(TimerHandle_t xTimer){ | ||
| Timer* ptrTimer = (Timer*)pvTimerGetTimerID(xTimer); | ||
| ptrTimer->timerState = COMPLETE; | ||
| } | ||
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| /** | ||
| * @brief Changes timer period, Sets timer state back to uninitialized and stops timer | ||
| */ | ||
| bool Timer::ChangePeriod(const uint32_t period_ms) | ||
| { | ||
| if (xTimerChangePeriod(rtTimerHandle, MS_TO_TICKS(period_ms), DEFAULT_TIMER_COMMAND_WAIT_PERIOD) == pdTRUE) { | ||
| if (xTimerStop(rtTimerHandle, DEFAULT_TIMER_COMMAND_WAIT_PERIOD) == pdPASS) { | ||
| timerState = UNINITIALIZED; | ||
| return true; | ||
| } | ||
| } | ||
| return false; | ||
| } | ||
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| /** | ||
| * @brief Changes timer period, Sets timer state back to counting and starts timer | ||
| */ | ||
| bool Timer::ChangePeriodAndStart(const uint32_t period_ms) | ||
| { | ||
| if (xTimerChangePeriod(rtTimerHandle, MS_TO_TICKS(period_ms), DEFAULT_TIMER_COMMAND_WAIT_PERIOD) == pdTRUE) { | ||
| timerState = COUNTING; | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
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| /** | ||
| * @brief Starts the timer | ||
| */ | ||
| bool Timer::Start() | ||
| { | ||
| if ((timerState == COMPLETE) || (timerState == COUNTING)) { | ||
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| return false; | ||
| } | ||
| else if (timerState == PAUSED) { | ||
| ChangePeriod(remainingTimeBetweenPauses); | ||
| } | ||
| if (xTimerStart(rtTimerHandle, DEFAULT_TIMER_COMMAND_WAIT_PERIOD) == pdPASS) { | ||
| timerState = COUNTING; | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
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| /** | ||
| * @brief Stops the timer | ||
| */ | ||
| bool Timer::Stop() | ||
| { | ||
| // Checks if timer is in counting state because it cannot be stopped in any other state | ||
| if (timerState != COUNTING) { | ||
| return false; | ||
| } | ||
| // Calculates the time left on the timer before it is paused | ||
| remainingTimeBetweenPauses = rtosTimeRemaning(); | ||
| if (xTimerStop(rtTimerHandle, DEFAULT_TIMER_COMMAND_WAIT_PERIOD) == pdPASS) { | ||
| timerState = PAUSED; | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
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| /** | ||
| * @brief Restarts timer without starting to count | ||
| */ | ||
| bool Timer::ResetTimer() | ||
| { | ||
| if (timerState == UNINITIALIZED) { | ||
| return false; | ||
| } | ||
| if (xTimerReset(rtTimerHandle, DEFAULT_TIMER_COMMAND_WAIT_PERIOD) == pdPASS) { | ||
| if (xTimerStop(rtTimerHandle, DEFAULT_TIMER_COMMAND_WAIT_PERIOD) == pdPASS) { | ||
| timerState = UNINITIALIZED; | ||
| return true; | ||
| } | ||
| } | ||
| return false; | ||
| } | ||
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| /** | ||
| * @brief Restarts Timer and starts counting | ||
| */ | ||
| bool Timer::ResetTimerAndStart() | ||
| { | ||
| if (timerState == UNINITIALIZED) { | ||
| return false; | ||
| } | ||
| if (xTimerReset(rtTimerHandle, DEFAULT_TIMER_COMMAND_WAIT_PERIOD) == pdPASS) { | ||
| timerState = COUNTING; | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
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| /** | ||
| * @brief Sets timer to auto-reload if parameter is set to true, Sets timer to one shot if parameter is set to false | ||
| */ | ||
| void Timer::SetAutoReload(bool setReloadOn) | ||
| { | ||
| if (setReloadOn == true){ | ||
| vTimerSetReloadMode(rtTimerHandle, pdTRUE); | ||
| //Testing purposes | ||
| SOAR_PRINT("Set to Auto Reload\n\n"); | ||
| } | ||
| if (setReloadOn == false){ | ||
| vTimerSetReloadMode(rtTimerHandle, pdFALSE); | ||
| //Testing purposes | ||
| SOAR_PRINT("Set to One Shot\n\n"); | ||
| } | ||
| } | ||
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| /** | ||
| * @brief Returns true if the timer is set to autoreload and false if it is set to one-shot | ||
| */ | ||
| bool Timer::GetAutoReload() | ||
| { | ||
| if ((uxTimerGetReloadMode(rtTimerHandle)) == (( UBaseType_t ) pdTRUE)) { | ||
| return true; | ||
| } | ||
| if ((uxTimerGetReloadMode(rtTimerHandle)) == (( UBaseType_t ) pdFALSE)) { | ||
| return false; | ||
| } | ||
| } | ||
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| /** | ||
| * @brief Returns timer state enum | ||
| */ | ||
| TimerState Timer::GetState() | ||
| { | ||
| return timerState; | ||
| } | ||
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| /** | ||
| * @brief Returns the timers' period | ||
| */ | ||
| const uint32_t Timer::GetPeriod() | ||
| { | ||
| return (TICKS_TO_MS(xTimerGetPeriod(rtTimerHandle))); | ||
| } | ||
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| /** | ||
| * @brief Returns remaining time on timer based on current state | ||
| */ | ||
| const uint32_t Timer::GetRemainingTime() | ||
| { | ||
| if (timerState == UNINITIALIZED){ | ||
| return (GetPeriod()); | ||
| } | ||
| else if (timerState == COUNTING){ | ||
| return rtosTimeRemaning(); | ||
| } | ||
| else if (timerState == PAUSED){ | ||
| return remainingTimeBetweenPauses; | ||
| } | ||
| else { | ||
| return 0; | ||
| } | ||
| } | ||
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| /** | ||
| * @brief Calculates remaining time on timer in counting state | ||
| */ | ||
| uint32_t Timer::rtosTimeRemaning() | ||
| { | ||
| remainingTime = (TICKS_TO_MS(xTimerGetExpiryTime(rtTimerHandle) - xTaskGetTickCount())); | ||
| return remainingTime; | ||
| } | ||
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add an else here to account for if we failed xTimerStop (for whatever reason)