| Directory: | ./ |
|---|---|
| File: | src/frequency_manager.cpp |
| Date: | 2022-06-29 13:58:11 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 16 | 27 | 59.3% |
| Branches: | 7 | 12 | 58.3% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | #include "real_time_tools/frequency_manager.hpp" | ||
| 2 | |||
| 3 | #include <iostream> | ||
| 4 | |||
| 5 | namespace real_time_tools | ||
| 6 | { | ||
| 7 | 1 | FrequencyManager::FrequencyManager(double frequency) | |
| 8 | 1 | : period_ms_((1.0 / frequency) * 1000.0), previous_time_ms_(-1) | |
| 9 | { | ||
| 10 | 1 | } | |
| 11 | |||
| 12 | ✗ | FrequencyManager::FrequencyManager() | |
| 13 | ✗ | : period_ms_(0.0), previous_time_ms_(-1) | |
| 14 | { | ||
| 15 | } | ||
| 16 | |||
| 17 | ✗ | void FrequencyManager::set_frequency(double frequency) | |
| 18 | { | ||
| 19 | ✗ | period_ms_ = (1.0 / frequency) * 1000.0; | |
| 20 | } | ||
| 21 | |||
| 22 | ✗ | void FrequencyManager::set_period(double period) | |
| 23 | { | ||
| 24 | ✗ | period_ms_ = period * 1000.0; | |
| 25 | } | ||
| 26 | |||
| 27 | ✗ | double FrequencyManager::predict_sleeping_time() const | |
| 28 | { | ||
| 29 | ✗ | double t = Timer::get_current_time_ms(); | |
| 30 | ✗ | if (previous_time_ms_ < 0) | |
| 31 | { | ||
| 32 | ✗ | return 0.0; | |
| 33 | } | ||
| 34 | ✗ | return (t - previous_time_ms_); | |
| 35 | } | ||
| 36 | |||
| 37 | 800 | bool FrequencyManager::wait() | |
| 38 | { | ||
| 39 | 800 | double t = Timer::get_current_time_ms(); | |
| 40 |
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800 | if (previous_time_ms_ < 0) |
| 41 | { | ||
| 42 | 1 | previous_time_ms_ = t; | |
| 43 | 1 | return true; | |
| 44 | } | ||
| 45 | 799 | double delta = t - previous_time_ms_; | |
| 46 |
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799 | if (delta > period_ms_) |
| 47 | { | ||
| 48 | 400 | previous_time_ms_ = t; | |
| 49 | 400 | return false; | |
| 50 | } | ||
| 51 |
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399 | Timer::sleep_ms(period_ms_ - delta); |
| 52 | 399 | previous_time_ms_ = Timer::get_current_time_ms(); | |
| 53 | 399 | return true; | |
| 54 | } | ||
| 55 |
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42 | } // namespace real_time_tools |
| 56 |