RateThread.cpp

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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
 */
 
#define YARP_INCLUDING_DEPRECATED_HEADER_ON_PURPOSE
#include <yarp/os/RateThread.h>
#undef YARP_INCLUDING_DEPRECATED_HEADER_ON_PURPOSE
 
YARP_WARNING_PUSH
YARP_DISABLE_DEPRECATED_WARNING
 
#include <yarp/os/impl/LogComponent.h>
 
using namespace yarp::os;
 
namespace {
YARP_OS_LOG_COMPONENT(RATETHREAD, "yarp.os.RateThread" )
}
 
 
RateThread::RateThread(int period) :
        PeriodicThread(period / 1000.0)
{
}
 
RateThread::~RateThread() = default;
 
bool RateThread::setRate(int period)
{
    return PeriodicThread::setPeriod(period / 1000.0);
}
 
double RateThread::getRate()
{
    return PeriodicThread::getPeriod() * 1000;
}
 
bool RateThread::isSuspended()
{
    return PeriodicThread::isSuspended();
}
 
void RateThread::stop()
{
    PeriodicThread::stop();
}
 
void RateThread::askToStop()
{
    PeriodicThread::askToStop();
}
 
bool RateThread::step()
{
    PeriodicThread::step();
    return true;
}
 
bool RateThread::start()
{
    return PeriodicThread::start();
}
 
bool RateThread::isRunning()
{
    return PeriodicThread::isRunning();
}
 
void RateThread::suspend()
{
    PeriodicThread::suspend();
}
 
void RateThread::resume()
{
    PeriodicThread::resume();
}
 
unsigned int RateThread::getIterations()
{
    return PeriodicThread::getIterations();
}
 
double RateThread::getEstPeriod()
{
    return PeriodicThread::getEstimatedPeriod() * 1000;
}
 
double RateThread::getEstUsed()
{
    return PeriodicThread::getEstimatedUsed() * 1000;
}
 
void RateThread::getEstPeriod(double& av, double& std)
{
    PeriodicThread::getEstimatedPeriod(av, std);
    av *= 1000;
    std *= 1000;
}
 
void RateThread::getEstUsed(double& av, double& std)
{
    PeriodicThread::getEstimatedUsed(av, std);
    av *= 1000;
    std *= 1000;
}
 
void RateThread::resetStat()
{
    PeriodicThread::resetStat();
}
 
bool RateThread::threadInit()
{
    return true;
}
 
void RateThread::threadRelease()
{
}
 
void RateThread::beforeStart()
{
}
 
void RateThread::afterStart(bool success)
{
    YARP_UNUSED(success);
}
 
int RateThread::setPriority(int priority, int policy)
{
    return PeriodicThread::setPriority(priority, policy);
}
 
int RateThread::getPriority()
{
    return PeriodicThread::getPriority();
}
 
int RateThread::getPolicy()
{
    return PeriodicThread::getPolicy();
}
 
//
//  System Rate Thread
//
 
SystemRateThread::SystemRateThread(int period) :
        PeriodicThread(period / 1000.0, ShouldUseSystemClock::Yes)
{
}
 
SystemRateThread::~SystemRateThread() = default;
 
bool SystemRateThread::stepSystem()
{
    step();
    return true;
}
 
RateThreadWrapper::RateThreadWrapper() :
        PeriodicThread(0)
{
    helper = nullptr;
    owned = false;
}
 
 
RateThreadWrapper::RateThreadWrapper(Runnable* helper) :
        PeriodicThread(0)
{
    this->helper = helper;
    owned = true;
}
 
RateThreadWrapper::RateThreadWrapper(Runnable& helper) :
        PeriodicThread(0)
{
    this->helper = &helper;
    owned = false;
}
 
RateThreadWrapper::~RateThreadWrapper()
{
    detach();
}
 
void RateThreadWrapper::detach()
{
    if (owned) {
        delete helper;
    }
    helper = nullptr;
    owned = false;
}
 
bool RateThreadWrapper::attach(Runnable& helper)
{
    detach();
    this->helper = &helper;
    owned = false;
    return true;
}
 
bool RateThreadWrapper::attach(Runnable* helper)
{
    detach();
    this->helper = helper;
    owned = true;
    return true;
}
 
bool RateThreadWrapper::open(double framerate, bool polling)
{
    double period = 0.0;
    if (framerate > 0) {
        period = (1.0 / framerate);
        yCInfo(RATETHREAD, "Setting framerate to: %.0lf[Hz] (thread period %f[s])\n", framerate, period);
    } else {
        yCInfo(RATETHREAD, "No framerate specified, polling the device");
        period = 0.0; //continuous
    }
    PeriodicThread::setPeriod(period);
    if (!polling) {
        start();
    }
    return true;
}
 
void RateThreadWrapper::close()
{
    PeriodicThread::stop();
}
 
void RateThreadWrapper::stop()
{
    PeriodicThread::stop();
}
 
void RateThreadWrapper::run()
{
    if (helper != nullptr) {
        helper->run();
    }
}
 
bool RateThreadWrapper::threadInit()
{
    if (helper != nullptr) {
        return helper->threadInit();
    }
    return true;
}
 
void RateThreadWrapper::threadRelease()
{
    if (helper != nullptr) {
        helper->threadRelease();
    }
}
 
void RateThreadWrapper::afterStart(bool success)
{
    if (helper != nullptr) {
        helper->afterStart(success);
    }
}
 
void RateThreadWrapper::beforeStart()
{
    if (helper != nullptr) {
        helper->beforeStart();
    }
}
 
Runnable* RateThreadWrapper::getAttachment() const
{
    return helper;
}
 
YARP_WARNING_POP