Tactility/TactilityCore/Source/Timer.cpp

#include "Timer.h"
#include "Check.h"
#include "Kernel.h"
#include <cstdlib>

#ifdef ESP_PLATFORM
#include "freertos/FreeRTOS.h"
#include "freertos/timers.h"
#else
#include "FreeRTOS.h"
#include "timers.h"
#endif

namespace tt {

typedef struct {
    TimerCallback func;
    void* context;
} TimerCallback_t;

static void timer_callback(TimerHandle_t hTimer) {
    auto* callback = static_cast<TimerCallback_t*>(pvTimerGetTimerID(hTimer));

    if (callback != nullptr) {
        callback->func(callback->context);
    }
}

Timer* timer_alloc(TimerCallback func, TimerType type, void* context) {
    tt_assert((kernel_is_irq() == 0U) && (func != nullptr));
    auto* callback = static_cast<TimerCallback_t*>(malloc(sizeof(TimerCallback_t)));

    callback->func = func;
    callback->context = context;

    UBaseType_t reload;
    if (type == TimerTypeOnce) {
        reload = pdFALSE;
    } else {
        reload = pdTRUE;
    }

    // TimerCallback function is always provided as a callback and is used to call application
    // specified function with its context both stored in structure callb.
    // TODO: should we use pointer to function or function directly as-is?
    TimerHandle_t hTimer = xTimerCreate(nullptr, portMAX_DELAY, (BaseType_t)reload, callback, timer_callback);
    tt_assert(hTimer);

    /* Return timer ID */
    return (Timer*)hTimer;
}

void timer_free(Timer* instance) {
    tt_assert(!kernel_is_irq());
    tt_assert(instance);

    auto hTimer = static_cast<TimerHandle_t>(instance);
    auto* callback = static_cast<TimerCallback_t*>(pvTimerGetTimerID(hTimer));

    tt_check(xTimerDelete(hTimer, portMAX_DELAY) == pdPASS);

    while (timer_is_running(instance)) delay_tick(2);

    /* Return allocated memory to dynamic pool */
    free(callback);
}

TtStatus timer_start(Timer* instance, uint32_t ticks) {
    tt_assert(!kernel_is_irq());
    tt_assert(instance);
    tt_assert(ticks < portMAX_DELAY);

    auto hTimer = static_cast<TimerHandle_t>(instance);
    TtStatus stat;

    if (xTimerChangePeriod(hTimer, ticks, portMAX_DELAY) == pdPASS) {
        stat = TtStatusOk;
    } else {
        stat = TtStatusErrorResource;
    }

    /* Return execution status */
    return (stat);
}

TtStatus timer_restart(Timer* instance, uint32_t ticks) {
    tt_assert(!kernel_is_irq());
    tt_assert(instance);
    tt_assert(ticks < portMAX_DELAY);

    auto hTimer = static_cast<TimerHandle_t>(instance);
    TtStatus stat;

    if (xTimerChangePeriod(hTimer, ticks, portMAX_DELAY) == pdPASS &&
        xTimerReset(hTimer, portMAX_DELAY) == pdPASS) {
        stat = TtStatusOk;
    } else {
        stat = TtStatusErrorResource;
    }

    /* Return execution status */
    return (stat);
}

TtStatus timer_stop(Timer* instance) {
    tt_assert(!kernel_is_irq());
    tt_assert(instance);

    auto hTimer = static_cast<TimerHandle_t>(instance);

    tt_check(xTimerStop(hTimer, portMAX_DELAY) == pdPASS);

    return TtStatusOk;
}

uint32_t timer_is_running(Timer* instance) {
    tt_assert(!kernel_is_irq());
    tt_assert(instance);

    auto hTimer = static_cast<TimerHandle_t>(instance);

    /* Return 0: not running, 1: running */
    return (uint32_t)xTimerIsTimerActive(hTimer);
}

uint32_t timer_get_expire_time(Timer* instance) {
    tt_assert(!kernel_is_irq());
    tt_assert(instance);

    auto hTimer = static_cast<TimerHandle_t>(instance);

    return (uint32_t)xTimerGetExpiryTime(hTimer);
}

void timer_pending_callback(TimerPendigCallback callback, void* context, uint32_t arg) {
    BaseType_t ret = pdFAIL;
    if (kernel_is_irq()) {
        ret = xTimerPendFunctionCallFromISR(callback, context, arg, nullptr);
    } else {
        ret = xTimerPendFunctionCall(callback, context, arg, TtWaitForever);
    }
    tt_assert(ret == pdPASS);
}

void timer_set_thread_priority(TimerThreadPriority priority) {
    tt_assert(!kernel_is_irq());

    TaskHandle_t task_handle = xTimerGetTimerDaemonTaskHandle();
    tt_assert(task_handle); // Don't call this method before timer task start

    if (priority == TimerThreadPriorityNormal) {
        vTaskPrioritySet(task_handle, configTIMER_TASK_PRIORITY);
    } else if (priority == TimerThreadPriorityElevated) {
        vTaskPrioritySet(task_handle, configMAX_PRIORITIES - 1);
    } else {
        tt_crash("Unsupported timer priority");
    }
}

} // namespace