PeriodicThread.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#ifndef YARP_OS_PERIODICTHREAD_H
#define YARP_OS_PERIODICTHREAD_H
 
#include <yarp/os/api.h>
#include <yarp/os/Time.h>
 
namespace yarp::os {
 
enum class PeriodicThreadClock
{
    Relative,
    Absolute
};
 
class YARP_os_API PeriodicThread
{
public:
    explicit PeriodicThread(double period,
                            ShouldUseSystemClock useSystemClock = ShouldUseSystemClock::No,
                            PeriodicThreadClock clockAccuracy = PeriodicThreadClock::Relative);
 
    explicit PeriodicThread(double period, PeriodicThreadClock clockAccuracy);
 
    virtual ~PeriodicThread();
 
    bool start();
 
    void step();
 
    void stop();
 
    void askToStop();
 
    bool isRunning() const;
 
    bool isSuspended() const;
 
    bool setPeriod(double period);
 
    double getPeriod() const;
 
    void suspend();
 
    void resume();
 
    void resetStat();
 
    double getEstimatedPeriod() const;
 
    void getEstimatedPeriod(double& av, double& std) const;
 
    unsigned int getIterations() const;
 
    double getEstimatedUsed() const;
 
    void getEstimatedUsed(double& av, double& std) const;
 
    int setPriority(int priority, int policy = -1);
 
    int getPriority() const;
 
    int getPolicy() const;
 
protected:
    virtual bool threadInit();
 
    virtual void threadRelease();
 
    virtual void run() = 0;
 
    virtual void beforeStart();
 
    virtual void afterStart(bool success);
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
private:
    class Private;
    Private* mPriv;
#endif // DOXYGEN_SHOULD_SKIP_THIS
};
 
} // namespace yarp::os
 
#endif // YARP_OS_PERIODICTHREAD_H