CRateTimer.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "system-precomp.h"  // Precompiled headers
 
#include <mrpt/system/CRateTimer.h>
#include <mrpt/core/exceptions.h>
#include <chrono>
#include <thread>
 
using namespace mrpt::system;
 
CRateTimer::CRateTimer(const double rate_hz) { setRate(rate_hz); }
CRateTimer::~CRateTimer() {}
void CRateTimer::setRate(const double rate_hz)
{
        ASSERT_ABOVE_(rate_hz, 0.0);
        m_rate_hz = rate_hz;
}
bool CRateTimer::sleep()
{
        const double elapsed_tim = m_tictac.Tac();
        m_tictac.Tic();
        const double period = 1.0 / m_rate_hz;
        const int64_t wait_tim_us = 1000000L * (period - elapsed_tim);
        if (wait_tim_us < 0) return false;
        std::this_thread::sleep_for(std::chrono::microseconds(wait_tim_us));
        return true;
}