autd3_timer/
timer.rs

1/*
2 * File: timer.rs
3 * Project: src
4 * Created Date: 24/05/2021
5 * Author: Shun Suzuki
6 * -----
7 * Last Modified: 21/03/2023
8 * Modified By: Shun Suzuki (suzuki@hapis.k.u-tokyo.ac.jp)
9 * -----
10 * Copyright (c) 2021 Hapis Lab. All rights reserved.
11 *
12 */
13
14use crate::{error::TimerError, NativeTimerWrapper};
15#[cfg(target_os = "macos")]
16use libc::c_void;
17#[cfg(target_os = "linux")]
18use libc::{c_int, c_void, siginfo_t};
19
20pub trait TimerCallback {
21    fn rt_thread(&mut self);
22}
23
24pub struct Timer<F: TimerCallback> {
25    native_timer: NativeTimerWrapper,
26    cb: F,
27}
28
29impl<F: TimerCallback> Timer<F> {
30    pub fn start(cb: F, period_ns: u32) -> Result<Box<Self>, TimerError> {
31        let mut timer = Box::new(Self {
32            native_timer: NativeTimerWrapper::new(),
33            cb,
34        });
35        let ptr = &mut *timer as *mut Self;
36        timer
37            .native_timer
38            .start(Some(Self::rt_thread), period_ns, ptr)?;
39        Ok(timer)
40    }
41
42    pub fn close(mut self) -> Result<F, TimerError> {
43        self.native_timer.close()?;
44        Ok(self.cb)
45    }
46
47    #[cfg(target_os = "windows")]
48    unsafe extern "system" fn rt_thread(
49        _u_timer_id: u32,
50        _u_msg: u32,
51        dw_user: usize,
52        _dw1: usize,
53        _dw2: usize,
54    ) {
55        let ptr = dw_user as *mut Self;
56        if let Some(timer) = ptr.as_mut() {
57            timer.cb.rt_thread();
58        }
59    }
60
61    #[cfg(target_os = "linux")]
62    unsafe extern "C" fn rt_thread(_sig: c_int, si: *mut siginfo_t, _uc: *mut c_void) {
63        let ptr = Self::get_ptr(si);
64        let ptr = ptr as *mut Self;
65        if let Some(timer) = ptr.as_mut() {
66            timer.cb.rt_thread();
67        }
68    }
69
70    #[cfg(target_os = "linux")]
71    #[allow(deprecated)]
72    unsafe extern "C" fn get_ptr(si: *mut siginfo_t) -> u64 {
73        // TODO: This depends on the deprecated field of libc crate, and may only work on a specific platforms.
74        let ptr_lsb = (*si)._pad[3];
75        let ptr_msb = (*si)._pad[4];
76        ((ptr_msb as u64) << 32) | (ptr_lsb as u64 & 0xFFFF_FFFF)
77    }
78
79    #[cfg(target_os = "macos")]
80    unsafe extern "C" fn rt_thread(ptr: *const c_void) {
81        let ptr = ptr as *mut Self;
82        if let Some(timer) = ptr.as_mut() {
83            timer.cb.rt_thread();
84        }
85    }
86}
autd3_timer/timer.rs

autd3_timer/
timer.rs
