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132 lines
4.0 KiB
132 lines
4.0 KiB
/*********************************************************************
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*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Author: Eitan Marder-Eppstein
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*********************************************************************/
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#ifndef ROSLIB_RATE_H
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#define ROSLIB_RATE_H
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#include "ros/time.h"
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#include "rostime_decl.h"
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namespace rs2rosinternal
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{
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class Duration;
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/**
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* @class Rate
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* @brief Class to help run loops at a desired frequency
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*/
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class ROSTIME_DECL Rate
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{
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public:
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/**
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* @brief Constructor, creates a Rate
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* @param frequency The desired rate to run at in Hz
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*/
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Rate(double frequency);
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explicit Rate(const Duration&);
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/**
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* @brief Sleeps for any leftover time in a cycle. Calculated from the last time sleep, reset, or the constructor was called.
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* @return True if the desired rate was met for the cycle, false otherwise.
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*/
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bool sleep();
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/**
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* @brief Sets the start time for the rate to now
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*/
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void reset();
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/**
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* @brief Get the actual run time of a cycle from start to sleep
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* @return The runtime of the cycle
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*/
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Duration cycleTime() const;
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/**
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* @brief Get the expected cycle time -- one over the frequency passed in to the constructor
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*/
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Duration expectedCycleTime() const { return expected_cycle_time_; }
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private:
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Time start_;
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Duration expected_cycle_time_, actual_cycle_time_;
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};
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/**
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* @class WallRate
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* @brief Class to help run loops at a desired frequency. This version always uses wall-clock time.
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*/
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class ROSTIME_DECL WallRate
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{
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public:
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/**
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* @brief Constructor, creates a Rate
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* @param frequency The desired rate to run at in Hz
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*/
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WallRate(double frequency);
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explicit WallRate(const Duration&);
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/**
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* @brief Sleeps for any leftover time in a cycle. Calculated from the last time sleep, reset, or the constructor was called.
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* @return Passes through the return value from WallDuration::sleep() if it slept, false otherwise.
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*/
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bool sleep();
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/**
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* @brief Sets the start time for the rate to now
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*/
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void reset();
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/**
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* @brief Get the actual run time of a cycle from start to sleep
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* @return The runtime of the cycle
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*/
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WallDuration cycleTime() const;
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/**
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* @brief Get the expected cycle time -- one over the frequency passed in to the constructor
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*/
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WallDuration expectedCycleTime() const { return expected_cycle_time_; }
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private:
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WallTime start_;
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WallDuration expected_cycle_time_, actual_cycle_time_;
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};
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}
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#endif
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