Initial commit

2026-07-03 16:37:12 +07:00
commit 63b8c1ea8b
1931 changed files with 640587 additions and 0 deletions
--- a/srcs/RobotNet10/Commons/RobotNet10.Common/WatchThread.cs
+++ b/srcs/RobotNet10/Commons/RobotNet10.Common/WatchThread.cs
@@ -0,0 +1,135 @@
+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);
+    }
+}