BQP/srcs/RobotNet10/Commons/RobotNet10.Realtime/RealtimeTimer.cs

using System;
using System.Runtime.InteropServices;

namespace RobotNet10.Realtime;

/// <summary>
/// Provides high-resolution real-time timers using Linux timerfd.
/// More accurate than System.Threading.Timer for real-time applications.
/// </summary>
public class RealtimeTimer : IDisposable
{
    private int _fd = -1;
    private readonly RealtimeClock _clock;
    private bool _disposed = false;

    /// <summary>
    /// Initializes a new instance of RealtimeTimer.
    /// </summary>
    /// <param name="clock">Clock type to use (default: CLOCK_MONOTONIC)</param>
    /// <param name="nonBlocking">Whether the timer should be non-blocking</param>
    public RealtimeTimer(RealtimeClockType clock = RealtimeClockType.Monotonic, bool nonBlocking = false)
    {
        _clock = new RealtimeClock(clock);
        int flags = LinuxNative.TFD_CLOEXEC;
        if (nonBlocking)
        {
            flags |= LinuxNative.TFD_NONBLOCK;
        }

        _fd = LinuxNative.timerfd_create((int)clock, flags);
        if (_fd < 0)
        {
            LinuxNative.ThrowLastError("timerfd_create");
        }
    }

    /// <summary>
    /// Gets the file descriptor for the timer.
    /// </summary>
    public int FileDescriptor => _fd;

    /// <summary>
    /// Sets the timer to fire periodically.
    /// </summary>
    /// <param name="interval">Interval between timer expirations</param>
    public void SetPeriodic(TimeSpan interval)
    {
        if (_disposed)
        {
            throw new ObjectDisposedException(nameof(RealtimeTimer));
        }

        var spec = new LinuxNative.itimerspec
        {
            it_interval = TimeSpanToTimespec(interval),
            it_value = TimeSpanToTimespec(interval) // First expiration
        };

        var oldSpec = new LinuxNative.itimerspec();
        int result = LinuxNative.timerfd_settime(_fd, 0, ref spec, ref oldSpec);
        if (result != 0)
        {
            LinuxNative.ThrowLastError("timerfd_settime");
        }
    }

    /// <summary>
    /// Sets the timer to fire once after a delay.
    /// </summary>
    /// <param name="delay">Delay before timer expiration</param>
    public void SetOneShot(TimeSpan delay)
    {
        if (_disposed)
        {
            throw new ObjectDisposedException(nameof(RealtimeTimer));
        }

        var spec = new LinuxNative.itimerspec
        {
            it_interval = new LinuxNative.timespec { tv_sec = 0, tv_nsec = 0 }, // No repeat
            it_value = TimeSpanToTimespec(delay)
        };

        var oldSpec = new LinuxNative.itimerspec();
        int result = LinuxNative.timerfd_settime(_fd, 0, ref spec, ref oldSpec);
        if (result != 0)
        {
            LinuxNative.ThrowLastError("timerfd_settime");
        }
    }

    /// <summary>
    /// Sets the timer to fire at an absolute time.
    /// </summary>
    /// <param name="absoluteTime">Absolute time when timer should expire</param>
    public void SetAbsolute(DateTime absoluteTime)
    {
        if (_disposed)
        {
            throw new ObjectDisposedException(nameof(RealtimeTimer));
        }

        var clockTime = _clock.GetTime();
        var targetTime = absoluteTime.ToUniversalTime();
        var delay = targetTime - DateTime.UtcNow;

        var spec = new LinuxNative.itimerspec
        {
            it_interval = new LinuxNative.timespec { tv_sec = 0, tv_nsec = 0 },
            it_value = TimeSpanToTimespec(delay)
        };

        var oldSpec = new LinuxNative.itimerspec();
        int result = LinuxNative.timerfd_settime(_fd, LinuxNative.TFD_TIMER_ABSTIME, ref spec, ref oldSpec);
        if (result != 0)
        {
            LinuxNative.ThrowLastError("timerfd_settime");
        }
    }

    /// <summary>
    /// Disarms the timer.
    /// </summary>
    public void Disarm()
    {
        if (_disposed)
        {
            throw new ObjectDisposedException(nameof(RealtimeTimer));
        }

        var spec = new LinuxNative.itimerspec
        {
            it_interval = new LinuxNative.timespec { tv_sec = 0, tv_nsec = 0 },
            it_value = new LinuxNative.timespec { tv_sec = 0, tv_nsec = 0 }
        };

        var oldSpec = new LinuxNative.itimerspec();
        int result = LinuxNative.timerfd_settime(_fd, 0, ref spec, ref oldSpec);
        if (result != 0)
        {
            LinuxNative.ThrowLastError("timerfd_settime");
        }
    }

    /// <summary>
    /// Gets the current timer value.
    /// </summary>
    /// <returns>Current timer interval and value</returns>
    public (TimeSpan interval, TimeSpan value) GetTime()
    {
        if (_disposed)
        {
            throw new ObjectDisposedException(nameof(RealtimeTimer));
        }

        var spec = new LinuxNative.itimerspec();
        int result = LinuxNative.timerfd_gettime(_fd, ref spec);
        if (result != 0)
        {
            LinuxNative.ThrowLastError("timerfd_gettime");
        }

        return (TimespecToTimeSpan(spec.it_interval), TimespecToTimeSpan(spec.it_value));
    }

    /// <summary>
    /// Reads the timer expiration count (number of times timer has expired since last read).
    /// In non-blocking mode, returns 0 if timer hasn't expired yet (EAGAIN).
    /// </summary>
    /// <returns>Number of expirations, or 0 if timer hasn't expired (non-blocking mode)</returns>
    public ulong ReadExpirations()
    {
        if (_disposed)
        {
            throw new ObjectDisposedException(nameof(RealtimeTimer));
        }

        IntPtr bufferPtr = Marshal.AllocHGlobal(8);
        try
        {
            long bytesRead = LinuxNative.read(_fd, bufferPtr, new IntPtr(8));
            if (bytesRead < 0)
            {
                int errno = LinuxNative.GetLastError();
                if (errno == 11) // EAGAIN - timer hasn't expired yet (non-blocking mode)
                {
                    return 0;
                }
                LinuxNative.ThrowLastError("read");
            }
            if (bytesRead != 8)
            {
                throw new InvalidOperationException($"Expected to read 8 bytes, got {bytesRead}");
            }
            return (ulong)Marshal.ReadInt64(bufferPtr);
        }
        finally
        {
            Marshal.FreeHGlobal(bufferPtr);
        }
    }

    private static LinuxNative.timespec TimeSpanToTimespec(TimeSpan ts)
    {
        long totalSeconds = (long)ts.TotalSeconds;
        long nanoseconds = (long)((ts.TotalMilliseconds % 1000) * 1000000);
        return new LinuxNative.timespec
        {
            tv_sec = totalSeconds,
            tv_nsec = nanoseconds
        };
    }

    private static TimeSpan TimespecToTimeSpan(LinuxNative.timespec ts)
    {
        return TimeSpan.FromSeconds(ts.tv_sec) + TimeSpan.FromTicks(ts.tv_nsec / 100);
    }

    public void Dispose()
    {
        if (!_disposed && _fd >= 0)
        {
            LinuxNative.close(_fd);
            _fd = -1;
            _disposed = true;
        }
    }
}

// Additional P/Invoke declarations needed for timerfd
internal static partial class LinuxNative
{
    [LibraryImport("libc", SetLastError = true)]
    public static partial long read(int fd, IntPtr buf, IntPtr count);

    [LibraryImport("libc", SetLastError = true)]
    public static partial int close(int fd);
}