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/** |
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* @file demo_timing.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 Timer 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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#include "real_time_tools/timer.hpp" |
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/** @brief Real time thread presenting the use of the Timer class. */ |
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THREAD_FUNCTION_RETURN_TYPE thread_function(void*) |
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{ |
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double frequency = 1000; |
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real_time_tools::Spinner spinner; |
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spinner.set_frequency(frequency); |
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real_time_tools::Timer timer; |
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while (true) |
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{ |
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for (int i = 0; i < frequency; i++) |
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{ |
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spinner.spin(); |
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timer.tac_tic(); |
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} |
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timer.print_statistics(); |
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} |
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return THREAD_FUNCTION_RETURN_VALUE; |
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} |
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/** @brief Launch a real time thread presenting the use of the Timer 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_timing.cpp |
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* |
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* This demos has for purpose to present the class real_time_tools::Timer. |
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* This class allows you to use the real time clocks. And measure durations |
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* and extract statistics on them. |
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* |
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* Inn this example we create a simple loop cadence by the |
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* real_time_tools::Spinner. And we measure the period of the loop. |
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* |
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* In order to do so one need to create a real_time_tools::Timer and call the |
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* real_time_tools::Timer::tac_tic() method which compute the duration between |
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* each call of this method. |
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* |
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* The demo displays the statistics of the measured time every milliseconds. |
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*/ |
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