initial solution

robot_cdt/src/sc_timer_service.h

@@ -0,0 +1,143 @@
+/* Generated by itemis CREATE code generator. */
+
+#ifndef SC_TIMER_SERVICE_H_
+#define SC_TIMER_SERVICE_H_
+
+#include "sc_types.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*! Interface definition of a timer service for itemis CREATE state machines. */
+
+typedef void (*sc_raise_time_event_fp)(void *handle, sc_eventid evid);
+typedef void (*sc_run_cycle_fp)(void *handle);
+
+typedef struct
+{
+    sc_raise_time_event_fp raise_event;
+    sc_eventid pt_evid;
+    sc_boolean periodic;
+} time_based;
+
+typedef struct
+{
+    sc_time time_ms;
+    sc_run_cycle_fp run_cycle;
+    time_based time_event;
+    void *statemachine;
+} non_empty;
+
+typedef enum { EMPTY_TASK, TIME_EVENT_TASK, RUNCYCLE_TASK } task_type;
+
+typedef struct
+{
+    task_type type;
+    non_empty get;
+} task_data;
+
+/* A timer task. */
+typedef struct
+{
+    task_data data;
+    sc_time elapsed_time_ms;
+    sc_integer next_task_idx;
+} sc_timer_t;
+
+typedef struct
+{
+    void *statemachine;
+    sc_eventid pt_evid;
+} match_time_event;
+
+typedef struct
+{
+    void *statemachine;
+} match_run_cycle_of;
+
+typedef union {
+    match_time_event match_time_event_;
+    match_run_cycle_of match_run_cycle_of_;
+} timer_task_matcher_data;
+
+typedef struct
+{
+    timer_task_matcher_data data;
+    sc_boolean is_match_time_event;
+} timer_task_matcher;
+
+typedef struct
+{
+    sc_integer length;
+    sc_timer_t *tasks;
+    sc_integer next_active_task;
+    sc_integer next_free_task;
+    sc_raise_time_event_fp raise_event;
+} sc_timer_service_t;
+
+void reset_task_data(task_data *data);
+
+void execute(task_data *data);
+
+void update_elapsed_time_ms(sc_timer_t *task, sc_time elapsed_time_ms_);
+
+sc_boolean is_periodic(sc_timer_t *task);
+
+sc_boolean is_runcycle_event(sc_timer_t *task);
+
+void reset_timer_task(sc_timer_t *task);
+
+sc_boolean less_than(sc_timer_t *task, sc_timer_t *other);
+
+sc_boolean time_event_matcher(match_time_event *matcher, const sc_timer_t *other);
+
+sc_boolean run_cycle_matcher(match_run_cycle_of *matcher, const sc_timer_t *other);
+
+void set_generic_timer(sc_timer_service_t *timer_service, const task_data data);
+
+void unset_generic_timer(sc_timer_service_t *timer_service, timer_task_matcher *matcher);
+
+void sc_timer_service_init(sc_timer_service_t *timer_service,
+                           sc_timer_t *tasks_,
+                           sc_integer length_,
+                           sc_raise_time_event_fp raise_event);
+
+void sc_timer_set(sc_timer_service_t *timer_service,
+                  void *handle,
+                  const sc_eventid evid,
+                  const sc_time time_ms,
+                  const sc_boolean periodic);
+
+void sc_timer_set_for_raise_event(sc_timer_service_t *timer_service,
+                              sc_raise_time_event_fp raise_event,
+                              void *statemachine,
+                              const sc_eventid evid,
+                              const sc_time time_ms,
+                              const sc_boolean periodic);
+
+void sc_timer_unset(sc_timer_service_t *timer_service, sc_eventid evid);
+
+void sc_timer_unset_for_machine(sc_timer_service_t *timer_service,
+                                sc_eventid evid,
+                                void *statemachine);
+
+void set_runcycle_timer_for(sc_timer_service_t *timer_service,
+                            sc_run_cycle_fp run_cycle,
+                            void *statemachine,
+                            sc_time cycle_period);
+
+void unset_runcycle_timer(sc_timer_service_t *timer_service, void *statemachine);
+
+void sc_timer_service_proceed(sc_timer_service_t *timer_service, sc_time elapsed_ms);
+
+void cancel(sc_timer_service_t *timer_service);
+
+sc_time time_till_next_task(sc_timer_service_t *timer_service);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* SC_TIMER_SERVICE_H_ */
+