Initial commit

include/okapi/api/util/abstractRate.hpp

@@ -0,0 +1,41 @@
+/*
+ * 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/coreProsAPI.hpp"
+#include "okapi/api/units/QFrequency.hpp"
+#include "okapi/api/units/QTime.hpp"
+
+namespace okapi {
+class AbstractRate {
+  public:
+  virtual ~AbstractRate();
+
+  /**
+   * 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
+   */
+  virtual void delay(QFrequency ihz) = 0;
+
+  /**
+   * 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
+   */
+  virtual void delayUntil(QTime itime) = 0;
+
+  /**
+   * 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
+   */
+  virtual void delayUntil(uint32_t ims) = 0;
+};
+} // namespace okapi