FreeRtosEventBus.h

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#pragma once
 
#include "IEventBus.h"
#include "freertos/FreeRTOS.h"
#include "freertos/queue.h"
#include "freertos/semphr.h"
#include "freertos/task.h"
#include <map>
#include <vector>
 
class FreeRtosEventBus : public IEventBus {
  public:
    explicit FreeRtosEventBus(size_t queueSize = 32);
    ~FreeRtosEventBus() override;
 
    // Prevent copying
    FreeRtosEventBus(const FreeRtosEventBus&) = delete;
    FreeRtosEventBus& operator=(const FreeRtosEventBus&) = delete;
 
    void subscribe(EventType type, std::function<void(const Event&)> handler) override;
    void publish(const Event& event) override;
    void processAllPending() override;
    [[nodiscard]] bool waitForEvent(Event& outEvent, uint32_t timeoutMs) override;
 
    bool publishFromISR(const Event& event);
 
    void startEventLoop(uint32_t stackSize = 4096, UBaseType_t priority = 5,
                        const char* taskName = "event_loop");
 
    void stopEventLoop();
 
    [[nodiscard]] bool isEventLoopRunning() const;
 
  private:
    void dispatchEvent(const Event& event);
    static void eventLoopTask(void* pvParameters);
 
    QueueHandle_t m_queue;
    SemaphoreHandle_t m_mutex;
    std::map<EventType, std::vector<std::function<void(const Event&)>>> m_subscribers;
    TaskHandle_t m_eventLoopTask = nullptr;
    volatile bool m_stopRequested = false;
};