RateThread.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef YARP_OS_RATETHREAD_H
#define YARP_OS_RATETHREAD_H
 
#include <yarp/conf/system.h>
 
#if !defined(YARP_INCLUDING_DEPRECATED_HEADER_ON_PURPOSE)
YARP_COMPILER_WARNING("<yarp/os/RateThread.h> file is deprecated")
#endif
 
#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0 (RateThreadWrapper since YARP 3.3)
YARP_WARNING_PUSH
YARP_DISABLE_DEPRECATED_WARNING
 
#include <yarp/os/api.h>
 
#include <yarp/os/PeriodicThread.h>
#include <yarp/os/Runnable.h>
 
namespace yarp {
namespace os {
 
class YARP_os_DEPRECATED_API_MSG("Use PeriodicThread instead") RateThread : private PeriodicThread
{
public:
    RateThread(int period);
 
    virtual ~RateThread();
 
    bool start();
 
    bool step();
 
    void stop();
 
    void askToStop();
 
    bool isRunning();
 
    bool isSuspended();
 
    bool setRate(int period);
    double getRate();
 
    void suspend();
 
    void resume();
 
    void resetStat();
 
    double getEstPeriod();
 
    void getEstPeriod(double& av, double& std);
 
    unsigned int getIterations();
 
    double getEstUsed();
 
    void getEstUsed(double& av, double& std);
 
    int setPriority(int priority, int policy = -1);
 
    int getPriority();
 
    int getPolicy();
 
protected:
    bool threadInit() override;
 
    void threadRelease() override;
 
    void run() override = 0;
 
    void beforeStart() override;
 
    void afterStart(bool success) override;
};
 
class YARP_os_DEPRECATED_API_MSG("Use PeriodicThread(..., == ShouldUseSystemClock::Yes) instead") SystemRateThread : public PeriodicThread
{
public:
    SystemRateThread(int period);
 
    virtual ~SystemRateThread();
 
    bool stepSystem();
};
 
 
class YARP_os_DEPRECATED_API RateThreadWrapper : public PeriodicThread
{
private:
    yarp::os::Runnable* helper;
    bool owned;
 
public:
    RateThreadWrapper();
    RateThreadWrapper(Runnable* helper);
    RateThreadWrapper(Runnable& helper);
 
    virtual ~RateThreadWrapper();
 
    void detach();
    virtual bool attach(Runnable& helper);
    virtual bool attach(Runnable* helper);
 
    bool open(double framerate = -1, bool polling = false);
    void close();
    void stop();
 
    void run() override;
    bool threadInit() override;
    void threadRelease() override;
    void afterStart(bool success) override;
    void beforeStart() override;
 
    Runnable* getAttachment() const;
};
 
} // namespace os
} // namespace yarp
 
YARP_WARNING_POP
#endif // YARP_NO_DEPRECATED
 
#endif // YARP_OS_RATETHREAD_H