BQP/srcs/RobotNet10/Commons/RobotNet10.Common/WatchThread.cs

using Microsoft.Extensions.Logging;
using System.Diagnostics;

namespace RobotNet10.Common;

public class WatchThread<T>(int Interval, Action Callback, ILogger<T>? Logger, ThreadPriority Priority = ThreadPriority.Highest) : IDisposable where T : class
{
    public bool Disposed;

    private Thread? Thread;
    private CancellationTokenSource? ThreadCts;

    private long NextDueTime;
    private readonly Lock Lock = new();
    private void Handler(CancellationToken cancellationToken)
    {
        while (!cancellationToken.IsCancellationRequested)
        {
            try
            {
                bool shouldRun = false;
                lock (Lock)
                {
                    if (Disposed) return;
                    long now = GetCurrentTimeMs();
                    if (now >= NextDueTime)
                    {
                        shouldRun = true;
                        long scheduledTime = NextDueTime;
                        NextDueTime += Interval;

                        if (now - scheduledTime > Interval / 2)
                        {
                            NextDueTime = now + Interval;
                            if (Logger is not null && Logger.IsEnabled(LogLevel.Warning)) Logger.LogWarning("WatchThread Warning: Elapsed time {peak}ms exceeds interval {Interval}ms.", now - scheduledTime + Interval, Interval);
                        }
                    }
                }

                if (shouldRun)
                {
                    try { Callback.Invoke(); }
                    catch (Exception ex) { if (Logger is not null && Logger.IsEnabled(LogLevel.Error)) Logger.LogError("Callback error: {ex}", ex.Message); }
                }

                lock (Lock)
                {
                    if (Disposed) return;
                    long now = GetCurrentTimeMs();
                    long delay = NextDueTime - now;
                    if (delay < 0) delay = 0;
                    Thread.Sleep((int)delay);
                }
            }
            catch (Exception ex)
            {
                if (Logger is not null && Logger.IsEnabled(LogLevel.Error)) Logger.LogError("WatchThread Error: {ex}", ex.Message);
                Thread.Sleep(Interval);
            }
        }
    }

    private static long GetCurrentTimeMs()
    {
        return Stopwatch.GetTimestamp() * 1000 / Stopwatch.Frequency;
    }

    public void Start()
    {
        lock (Lock)
        {
            if (!Disposed)
            {
                if (Thread?.IsAlive == true) return;

                NextDueTime = GetCurrentTimeMs() + Interval;
                ThreadCts = new CancellationTokenSource();
                Thread = new Thread(() => Handler(ThreadCts.Token))
                {
                    Priority = Priority,
                    IsBackground = false,
                    Name = $"WatchThread-{typeof(T).Name}"
                };
                Thread.Start();
            }
            else throw new ObjectDisposedException(nameof(WatchThread<>));
        }
    }

    public void Stop()
    {
        Thread? threadToJoin;
        lock (Lock)
        {
            if (Thread == null) return;
            ThreadCts?.Cancel();
            threadToJoin = Thread;
        }

        // If Stop() is called from within the Callback (same thread), skip Join to avoid deadlock
        if (threadToJoin != null && threadToJoin != Thread.CurrentThread)
        {
            if (!threadToJoin.Join(TimeSpan.FromSeconds(5)))
            {
                Logger?.LogWarning("Thread did not stop gracefully");
            }
        }

        lock (Lock)
        {
            ThreadCts?.Dispose();
            ThreadCts = null;
            Thread = null;
        }
    }

    public void Dispose()
    {
        Dispose(true);
        GC.SuppressFinalize(this);
    }

    protected virtual void Dispose(bool disposing)
    {
        if (Disposed) return;

        Disposed = true; 
        if (disposing) Stop();
    }

    ~WatchThread()
    {
        Dispose(false);
    }
}