CRateTimer.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/utils/CTicTac.h>
#include <mrpt/base/link_pragmas.h>

namespace mrpt
{
namespace utils
{
        /** A class for calling sleep() in a loop, such that the amount of sleep time will be computed 
         *  to make the loop run at the desired rate (in Hz).
         * \note [New in MRPT 1.5.0]
         * \ingroup mrpt_base_grp
         */
        class BASE_IMPEXP CRateTimer
        {
        public:
                CRateTimer(const double rate_hz=1.0); //!< Ctor: specifies the desired rate (Hz)
                virtual ~CRateTimer();  //!< Dtor

                void setRate(const double rate_hz); //!< Changes the object loop rate (Hz)
                /** Sleeps for some time, such as the return of this method is 1/rate (seconds) 
                  * after the return of the previous call.
                  * \return false if the rate could not be achieved ("we are already late"), true if all went right. */
                bool sleep(); 
        private:
                double m_rate_hz;
                mrpt::utils::CTicTac m_tictac;
        }; // End of class def.

} // End of namespace
} // End of namespace