YARP
Yet Another Robot Platform
 
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os/periodicthread/periodicthread.cpp

Show a class for running some processing at a specified interval.

Show a class for running some processing at a specified interval.

/*
* SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
* SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
* SPDX-License-Identifier: BSD-3-Clause
*/
#include <yarp/os/Time.h>
#include <cstdio>
class Thread1 : public PeriodicThread
{
public:
Thread1(double p) :
PeriodicThread(p)
{
}
bool threadInit() override
{
printf("Starting thread1\n");
return true;
}
//called by start after threadInit, s is true iff the thread started
//successfully
void afterStart(bool s) override
{
if (s) {
printf("Thread1 started successfully\n");
} else {
printf("Thread1 did not start\n");
}
}
void run() override
{
printf("Hello, from thread1\n");
}
void threadRelease() override
{
printf("Goodbye from thread1\n");
}
};
class Thread2 : public PeriodicThread
{
public:
Thread2(double p) :
PeriodicThread(p)
{
}
bool threadInit() override
{
printf("Starting thread2\n");
return true;
}
//called by start after threadInit, s is true iff the thread started
//successfully
void afterStart(bool s) override
{
if (s) {
printf("Thread2 started successfully\n");
} else {
printf("Thread2 did not start\n");
}
}
void run() override
{
printf("Hello, from thread2\n");
}
void threadRelease() override
{
printf("Goodbye from thread2\n");
}
};
int main(int argc, char* argv[])
{
YARP_UNUSED(argc);
YARP_UNUSED(argv);
constexpr double thread1_period1 = 0.500; //run every 500ms
constexpr double thread1_period2 = 0.250; //run every 250ms
constexpr double thread2_period1 = 1.000; //run every 1s
constexpr double thread2_period2 = 0.500; //run every 500ms
constexpr double stat_delay = 3.0; // 3s
constexpr double pause_loop_delay = 0.2; // 200ms
Thread1 t1(thread1_period1);
Thread2 t2(thread2_period1);
printf("thread1 period is %f[s]\n", thread1_period1);
printf("thread2 period is %f[s]\n", thread2_period1);
printf("Starting threads...\n");
bool ok = t1.start();
ok = ok && t2.start();
if (!ok) {
printf("One of the thread failed to initialize, returning\n");
return -1;
}
printf("Thread1 ran %d times, estimated period: %.lf[ms]\n", t1.getIterations(), t1.getEstimatedPeriod());
printf("Thread2 ran %d times, estimated period: %.lf[ms]\n", t2.getIterations(), t2.getEstimatedPeriod());
printf("suspending threads...\n");
t1.suspend();
t2.suspend();
printf("Waiting some time");
for (int k = 1; k < 20; k++) {
printf(".");
fflush(stdout);
yarp::os::Time::delay(pause_loop_delay);
}
printf("\n");
printf("Changing thread1 period to %f[s]\n", thread1_period2);
printf("Changing thread2 period to %f[s]\n", thread2_period2);
t1.setPeriod(thread1_period2);
t2.setPeriod(thread2_period2);
printf("Resuming threads...\n");
t1.resetStat();
t2.resetStat();
t1.resume();
t2.resume();
yarp::os::Time::delay(stat_delay);
printf("Thread1 ran %d times, estimated period: %.lf[ms]\n", t1.getIterations(), t1.getEstimatedPeriod());
printf("Thread2 ran %d times, estimated period: %.lf[ms]\n", t2.getIterations(), t2.getEstimatedPeriod());
t1.stop();
t2.stop();
printf("stopped\n");
return 0;
}
Utilities for manipulating the YARP network, including initialization and shutdown.
Definition Network.h:706
An abstraction for a periodic thread.
void delay(double seconds)
Wait for a certain number of seconds.
Definition Time.cpp:111
#define YARP_UNUSED(var)
Definition api.h:162