mrpt::system::CRateTimer Class Reference

Detailed Description

A class for calling sleep() in a loop, such that the amount of sleep time will be computed to make the loop run at the desired rate (in Hz).

Note

[New in MRPT 1.5.0]

Definition at line 21 of file system/CRateTimer.h.

#include <mrpt/system/CRateTimer.h>

Public Member Functions
	CRateTimer (const double rate_hz=1.0)
	Ctor: specifies the desired rate (Hz) More...
virtual	~CRateTimer ()=default
	Dtor. More...
void	setRate (const double rate_hz)
	Changes the object loop rate (Hz) More...
double	rate () const
	Gets current rate (Hz) More...
bool	sleep ()
	Sleeps for some time, such as the return of this method is 1/rate (seconds) after the return of the previous call. More...

Private Attributes
double	m_rate_hz {1.0}
mrpt::system::CTicTac	m_tictac

Constructor & Destructor Documentation

CRateTimer()

CRateTimer::CRateTimer

(

const double

rate_hz = 1.0

)

Ctor: specifies the desired rate (Hz)

Definition at line 24 of file CRateTimer.cpp.

References setRate().

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~CRateTimer()

virtual mrpt::system::CRateTimer::~CRateTimer ( )

virtualdefault

Dtor.

Member Function Documentation

rate()

double mrpt::system::CRateTimer::rate ( ) const

inline

Gets current rate (Hz)

Definition at line 33 of file system/CRateTimer.h.

References m_rate_hz.

Referenced by mrpt::system::CControlledRateTimer::actualControlledRate(), and mrpt::system::CControlledRateTimer::sleep().

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setRate()

void CRateTimer::setRate

(

const double

rate_hz

)

Changes the object loop rate (Hz)

Definition at line 25 of file CRateTimer.cpp.

References ASSERT_ABOVE_, and m_rate_hz.

Referenced by CRateTimer(), mrpt::apps::RawlogGrabberApp::SensorThread(), and mrpt::system::CControlledRateTimer::sleep().

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sleep()

bool CRateTimer::sleep

(

)

Sleeps for some time, such as the return of this method is 1/rate (seconds) after the return of the previous call.

Returns

false if the rate could not be achieved ("we are already late"), true if all went right.

Definition at line 30 of file CRateTimer.cpp.

References ASSERT_ABOVE_, ASSERT_ABOVEEQ_, ASSERT_BELOWEQ_, mrpt::system::os::fprintf(), m_rate_hz, m_tictac, mrpt::system::CTicTac::Tac(), and mrpt::system::CTicTac::Tic().

Referenced by mrpt::apps::RawlogGrabberApp::SensorThread(), and mrpt::system::CControlledRateTimer::sleep().

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Member Data Documentation

m_rate_hz

double mrpt::system::CRateTimer::m_rate_hz {1.0}

private

Definition at line 43 of file system/CRateTimer.h.

Referenced by rate(), setRate(), and sleep().

m_tictac

mrpt::system::CTicTac mrpt::system::CRateTimer::m_tictac

private

Definition at line 44 of file system/CRateTimer.h.

Referenced by sleep().