rate.h

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#ifndef RATE_H
#define RATE_H
 
#include <time.h>
#include <sys/time.h>
#include <argos3/core/utility/math/general.h>
 
namespace argos {
 
  /*
   * Helper to keep a constant rate in loops.
   *
   * This class is a simple helper that allows you to keep a constant rate in a
   * loop such as a robot control loop. Its usage is simple:
   *
   * // Set the number of "ticks" per second
   * CRate cRate(10.0);
   * while(1) {
   *   // do stuff
   *   // ...
   *   // Sleep enough time to complete the tick period
   *   // If the tick period was execeed before this call,
   *   // don't sleep and write a warning message
   *   cRate.Sleep();
   * }
   */
  class CRate {
 
  public:
 
    CRate(Real f_rate);
 
    ~CRate() {}
 
    UInt64 ElapsedUS() const;
 
    Real ElapsedS() const;
 
    void Sleep();
 
    inline Real GetRate() const {
      return m_fNominalRate;
    }
 
    void SetRate(Real f_rate);
 
  private:
 
    Real m_fNominalRate;
    UInt64 m_unNominalPeriod;
    ::timeval m_tPast;
 
  };
 
}
 
#endif // RATE_H