Refactored everything.

include/okapi/impl/util/configurableTimeUtilFactory.hpp

@@ -0,0 +1,34 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/impl/util/timeUtilFactory.hpp"
+
+namespace okapi {
+/**
+ * A TimeUtilFactory that supplies the SettledUtil parameters passed in the constructor to every
+ * new TimeUtil instance.
+ */
+class ConfigurableTimeUtilFactory : public TimeUtilFactory {
+  public:
+  ConfigurableTimeUtilFactory(double iatTargetError = 50,
+                              double iatTargetDerivative = 5,
+                              const QTime &iatTargetTime = 250_ms);
+
+  /**
+   * Creates a TimeUtil with the SettledUtil parameters specified in the constructor by
+   * delegating to TimeUtilFactory::withSettledUtilParams.
+   *
+   * @return A TimeUtil with the SettledUtil parameters specified in the constructor.
+   */
+  TimeUtil create() override;
+
+  private:
+  double atTargetError;
+  double atTargetDerivative;
+  QTime atTargetTime;
+};
+} // namespace okapi

include/okapi/impl/util/rate.hpp

@@ -0,0 +1,42 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/api/util/abstractRate.hpp"
+
+namespace okapi {
+class Rate : public AbstractRate {
+  public:
+  Rate();
+
+  /**
+   * Delay the current task such that it runs at the given frequency. The first delay will run for
+   * 1000/(ihz). Subsequent delays will adjust according to the previous runtime of the task.
+   *
+   * @param ihz the frequency
+   */
+  void delay(QFrequency ihz) override;
+
+  /**
+   * Delay the current task until itime has passed. This method can be used by periodic tasks to
+   * ensure a consistent execution frequency.
+   *
+   * @param itime the time period
+   */
+  void delayUntil(QTime itime) override;
+
+  /**
+   * Delay the current task until ims milliseconds have passed. This method can be used by
+   * periodic tasks to ensure a consistent execution frequency.
+   *
+   * @param ims the time period
+   */
+  void delayUntil(uint32_t ims) override;
+
+  protected:
+  std::uint32_t lastTime{0};
+};
+} // namespace okapi

include/okapi/impl/util/timeUtilFactory.hpp

@@ -0,0 +1,32 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/api/util/timeUtil.hpp"
+
+namespace okapi {
+class TimeUtilFactory {
+  public:
+  virtual ~TimeUtilFactory() = default;
+
+  /**
+   * Creates a default TimeUtil.
+   */
+  virtual TimeUtil create();
+
+  /**
+   * Creates a default TimeUtil.
+   */
+  static TimeUtil createDefault();
+
+  /**
+   * Creates a TimeUtil with custom SettledUtil params. See SettledUtil docs.
+   */
+  static TimeUtil withSettledUtilParams(double iatTargetError = 50,
+                                        double iatTargetDerivative = 5,
+                                        const QTime &iatTargetTime = 250_ms);
+};
+} // namespace okapi

include/okapi/impl/util/timer.hpp

@@ -0,0 +1,22 @@
+/*
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+#pragma once
+
+#include "okapi/api/util/abstractTimer.hpp"
+
+namespace okapi {
+class Timer : public AbstractTimer {
+  public:
+  Timer();
+
+  /**
+   * Returns the current time in units of QTime.
+   *
+   * @return the current time
+   */
+  QTime millis() const override;
+};
+} // namespace okapi