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/** |
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* @file demo_spinner.cpp |
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* @author Maximilien Naveau (maximilien.naveau@gmail.com) |
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* license License BSD-3-Clause |
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* @copyright Copyright (c) 2019, New York University and Max Planck |
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* Gesellschaft. |
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* @date 2019-05-22 |
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* |
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* @brief Demo of the spinner class usage |
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*/ |
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#include "real_time_tools/realtime_check.hpp" |
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#include "real_time_tools/spinner.hpp" |
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#include "real_time_tools/thread.hpp" |
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/** @brief implement a real time thread checking the timing of the loop */ |
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THREAD_FUNCTION_RETURN_TYPE thread_function(void*) |
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{ |
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double frequency = 300.0; |
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double switch_frequency = 290; |
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real_time_tools::RealTimeCheck realtime_check(frequency, switch_frequency); |
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real_time_tools::Spinner spinner; |
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spinner.set_frequency(frequency); |
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for (int i = 0; i < 500; i++) |
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{ |
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realtime_check.tick(); |
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spinner.spin(); |
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} |
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std::cout << "\n"; |
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realtime_check.print(); |
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std::cout << "\n"; |
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return THREAD_FUNCTION_RETURN_VALUE; |
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} |
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/** @brief This a demo on how to use the RealTimeCheck class. */ |
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int main(int, char* []) |
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{ |
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real_time_tools::RealTimeThread thread; |
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thread.create_realtime_thread(thread_function); |
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thread.join(); |
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} |
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/** |
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* \example demo_spinner.cpp |
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* |
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* This demos has for purpose to present the class real_time_tools::Spinner. |
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* This class |
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* allows you to time a loop with a simple API. |
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* |
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* One need to create a spinner and set the current spinning frequency. Two |
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* method are available for this: real_time_tools::Spinner::set_frequency() or |
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* real_time_tools::Spinner::set_period().. |
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* |
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* Once this is set one just needs to call real_time_tools::Spinner::spin() and |
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* the thread will |
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* sleep just the amount of time needed in order for the loop to cadenced |
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* properly. |
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*/ |
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