kern.h

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#pragma once
#include "timed.h"
#include "logger.h"
#include <setjmp.h>
#include <inttypes.h>
 
extern class Kernel :
    public Schedule::Recurring::Registry,
    public Scheduler {
    struct KLog: Logger {
        KLog(const uint32_t &t, Sink<Buffer<uint8_t>> &snk): Logger(snk), time(t) {}
        KLog(const uint32_t &t): Logger(), time(t) {}
        const uint32_t &time;
        virtual Buffer<uint8_t> pre() override {
            Buffer<uint8_t> ret = 256;
            ret.len = snprintf((char*)ret.buf, ret.size, "(@%" PRIu32 "ms): ", time);
            return ret;
        }
    };
public:
    const uint32_t &time{time_};
    KLog log{time};
    void initLog(Sink<Buffer<uint8_t>> &snk) {
        new(&log) KLog{time, snk};
    }
    void tick(uint32_t dt_ms) {
        auto ok = schedule(time, *this);
        if (!ok) exit( 127 ); // too many items in scheduled queue. DYING.
        time_ += dt_ms;
    }
    int run () {
        setjmp(jbf);
        while(go) {
            Scheduler::run();
            idle();
        }
        return exit_code;
    }
    void exit(int code=0) {
        go = false;
        exit_code = code;
    }
    void idle();
 
    void setTimeStep(uint16_t dt_us);
private:
    uint32_t time_{};
    bool go{true};
    int exit_code{};
    jmp_buf jbf{};
    friend void sighandler(int);
} k;