#ifndef FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_
#define FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_

#include <pthread.h>
#include <signal.h>
#include <unistd.h>

#include <cstdlib>

#include "../../returnvalues/HasReturnvaluesIF.h"

class PosixThread {
 public:
  static constexpr uint8_t PTHREAD_MAX_NAMELEN = 16;
  PosixThread(const char* name_, int priority_, size_t stackSize_);
  virtual ~PosixThread();
  /**
   * Set the Thread to sleep state
   * @param ns Nanosecond sleep time
   * @return Returns Failed if sleep fails
   */
  static ReturnValue_t sleep(uint64_t ns);
  /**
   * @brief Function to suspend the task until SIGUSR1 was received
   *
   *  @details Will be called in the beginning to suspend execution until startTask() is called
   * explicitly.
   */
  void suspend();

  /**
   * @brief Function to allow a other thread to start the thread again from suspend state
   *
   * @details Restarts the Thread after suspend call
   */
  void resume();

  /**
   * @brief     Function that has to be called by derived class because the
   *        derived class pointer has to be valid as argument.
   * @details
   * This function creates a pthread with the given parameters. As the
   * function requires a pointer to the derived object it has to be called
   * after the this pointer of the derived object is valid.
   * Sets the taskEntryPoint as function to be called by new a thread.
   * @param fnc_ Function which will be executed by the thread.
   * @param arg_
   * argument of the taskEntryPoint function, needs to be this pointer
   * of derived class
   */
  void createTask(void* (*fnc_)(void*), void* arg_);

  /**
   * Delay function similar to FreeRtos delayUntil function
   *
   * @param prevoiusWakeTime_ms Needs the previous wake time and returns the next wakeup time
   * @param delayTime_ms Time period to delay
   *
   * @return False If deadline was missed; True if task was delayed
   */
  static bool delayUntil(uint64_t* const prevoiusWakeTime_ms, const uint64_t delayTime_ms);

  /**
   * Returns the current time in milliseconds from CLOCK_MONOTONIC
   *
   * @return current time in milliseconds from CLOCK_MONOTONIC
   */
  static uint64_t getCurrentMonotonicTimeMs();

 protected:
  pthread_t thread;

 private:
  char name[PTHREAD_MAX_NAMELEN];
  int priority;
  size_t stackSize = 0;

  static constexpr const char* CLASS_NAME = "PosixThread";
};

#endif /* FRAMEWORK_OSAL_LINUX_POSIXTHREAD_H_ */