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/** |
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* @file spinner.hpp |
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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 Tools for maintaining the timing on a while loop. |
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*/ |
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#ifndef SPINNER_HPP |
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#define SPINNER_HPP |
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#include <unistd.h> |
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#include <chrono> |
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namespace real_time_tools |
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{ |
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/** |
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* @brief Class to have threads / loops running at a desired frequency |
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*/ |
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class Spinner |
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{ |
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public: |
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// create a spinner for the desired frequency |
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Spinner(); |
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/** |
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* @brief set_period sets the period of the loop in !!seconds!! |
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* @param period in seconds. |
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*/ |
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void set_period(double period) |
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{ |
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period_sec_ = period; |
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} |
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/** |
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* @brief Set the frequency of the loop [Hz] |
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* |
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* @param frequency |
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*/ |
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void set_frequency(double frequency) |
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{ |
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period_sec_ = 1.0 / frequency; |
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} |
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/** |
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* @brief To be called at the beginning of the loop if the spinner is not |
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* created just before. |
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*/ |
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void initialize(); |
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/** |
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* @brief spin waits for the time such that successive calls to spin |
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* will result in spin being called at the desired frequency |
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*/ |
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void spin(); |
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/** |
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* @brief Predict the time the current thread is going to sleep. |
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*/ |
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double predict_sleeping_time(); |
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private: |
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/** |
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* @brief period_sec_ is the period of the loop in seconds |
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*/ |
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double period_sec_; |
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/** |
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* @brief next_date_sec_ is the date when the loop needs to wake up. |
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*/ |
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double next_date_sec_; |
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}; |
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} // namespace real_time_tools |
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#endif // SPINNER_HPP |
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