MRPT  1.9.9
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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...
 
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 19 of file CRateTimer.cpp.

References setRate().

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◆ ~CRateTimer()

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

Dtor.

Member Function Documentation

◆ setRate()

void CRateTimer::setRate ( const double  rate_hz)

Changes the object loop rate (Hz)

Definition at line 20 of file CRateTimer.cpp.

References ASSERT_ABOVE_, and m_rate_hz.

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

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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 25 of file CRateTimer.cpp.

References m_rate_hz, m_tictac, mrpt::system::CTicTac::Tac(), and mrpt::system::CTicTac::Tic().

Referenced by mrpt::apps::RawlogGrabberApp::SensorThread().

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Member Data Documentation

◆ m_rate_hz

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

Definition at line 39 of file system/CRateTimer.h.

Referenced by setRate(), and sleep().

◆ m_tictac

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

Definition at line 40 of file system/CRateTimer.h.

Referenced by sleep().




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