system/CRateTimer.h

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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 |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/system/CTicTac.h>
 
namespace mrpt
{
namespace system
{
/** 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]
 * \ingroup mrpt_system_grp
 */
class CRateTimer
{
   public:
        /** Ctor: specifies the desired rate (Hz) */
        CRateTimer(const double rate_hz = 1.0);
        /** Dtor */
        virtual ~CRateTimer();
 
        /** Changes the object loop rate (Hz) */
        void setRate(const double rate_hz);
        /** Sleeps for some time, such as the return of this method is 1/rate
         * (seconds)
          * after the return of the previous call.
          * \return false if the rate could not be achieved ("we are already late"),
         * true if all went right. */
        bool sleep();
 
   private:
        double m_rate_hz;
        mrpt::system::CTicTac m_tictac;
};  // End of class def.
 
}  // End of namespace
}  // End of namespace