CRateTimer.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "system-precomp.h"  // Precompiled headers

#include <mrpt/core/exceptions.h>
#include <mrpt/system/CRateTimer.h>
#include <chrono>
#include <thread>

using namespace mrpt::system;

CRateTimer::CRateTimer(const double rate_hz) { setRate(rate_hz); }
void CRateTimer::setRate(const double rate_hz)
{
    ASSERT_ABOVE_(rate_hz, 0.0);
    m_rate_hz = rate_hz;
}
bool CRateTimer::sleep()
{
    const double elapsed_tim = m_tictac.Tac();
    const double period = 1.0 / m_rate_hz;
    const int64_t wait_tim_us =
        static_cast<int64_t>(1000000L * (period - elapsed_tim));
    if (elapsed_tim > period)
    {
        m_tictac.Tic();
        return false;
    }
    std::this_thread::sleep_for(std::chrono::microseconds(wait_tim_us));
    m_tictac.Tic();
    return true;
}