CycleUtil Class Reference

This util class helps with keeping a cycle time during a control cycle. More...

#include <ArmarXCore/core/time/CycleUtil.h>

Public Member Functions
	CycleUtil (const IceUtil::Time &cycleDuration, bool forceSystemTime=false)
	CycleUtil (const std::int64_t &cycleDurationMs, bool forceSystemTime=false)
IceUtil::Time	getAverageDuration () const
float	getBusyWaitShare () const
std::int64_t	getCycleCount () const
	Count of how many cycles were executed, i.e. More...
IceUtil::Time	getLastCycleTime () const
	Time when the last cycle finished or start time. More...
IceUtil::Time	getMaximumDuration () const
IceUtil::Time	getMinimumDuration () const
IceUtil::Time	getStartTime () const
	Time when object was constructed or reset was last called. More...
void	reset ()
	resets startTime, lastCycleTime and cycleCount. More...
void	setBusyWaitShare (float value)
IceUtil::Time	update ()
IceUtil::Time	waitForCycleDuration ()
	This function will wait (virtual or system time) until the cycle time is reached. More...

Static Protected Member Functions
static IceUtil::Time	now ()

Protected Attributes
float	busyWaitShare
std::int64_t	cycleCount
IceUtil::Time	cycleDuration
IceUtil::Time	cycleMaxDuration
IceUtil::Time	cycleMinDuration
bool	forceSystemTime
IceUtil::Time	lastCycleTime
IceUtil::Time	startTime

Detailed Description

This util class helps with keeping a cycle time during a control cycle.

The main function is waitForCycleDuration(), which should be called in every cycle. The function will wait (virtual or system time) until the cycle time is reached. If the last cycle took already too long, it will return immediately. The last cycle time is updated, when waitForCycleDuration() is called.

Note

If system time is used (i.e. not the timeserver) the monotonic clock is used.

Definition at line 40 of file CycleUtil.h.

Constructor & Destructor Documentation

CycleUtil() [1/2]

CycleUtil	(	const IceUtil::Time &	cycleDuration,
		bool	forceSystemTime = false
	)

Definition at line 30 of file CycleUtil.cpp.

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CycleUtil() [2/2]

CycleUtil	(	const std::int64_t &	cycleDurationMs,
		bool	forceSystemTime = false
	)

Definition at line 36 of file CycleUtil.cpp.

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Member Function Documentation

getAverageDuration()

IceUtil::Time getAverageDuration

(

)

const

Definition at line 103 of file CycleUtil.cpp.

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getBusyWaitShare()

float getBusyWaitShare

(

)

const

Definition at line 126 of file CycleUtil.cpp.

getCycleCount()

std::int64_t getCycleCount

(

)

const

Count of how many cycles were executed, i.e.

how often waitForCycleDuration() was called.

Definition at line 97 of file CycleUtil.cpp.

getLastCycleTime()

IceUtil::Time getLastCycleTime

(

)

const

Time when the last cycle finished or start time.

Definition at line 146 of file CycleUtil.cpp.

getMaximumDuration()

IceUtil::Time getMaximumDuration

(

)

const

Definition at line 120 of file CycleUtil.cpp.

getMinimumDuration()

IceUtil::Time getMinimumDuration

(

)

const

Definition at line 114 of file CycleUtil.cpp.

getStartTime()

IceUtil::Time getStartTime

(

)

const

Time when object was constructed or reset was last called.

Definition at line 91 of file CycleUtil.cpp.

now()

IceUtil::Time now ( )

staticprotected

Definition at line 138 of file CycleUtil.cpp.

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reset()

void reset

(

)

resets startTime, lastCycleTime and cycleCount.

Definition at line 44 of file CycleUtil.cpp.

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setBusyWaitShare()

void setBusyWaitShare

(

float

value

)

Definition at line 132 of file CycleUtil.cpp.

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update()

IceUtil::Time update

(

)

Definition at line 73 of file CycleUtil.cpp.

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waitForCycleDuration()

IceUtil::Time waitForCycleDuration

(

)

This function will wait (virtual or system time) until the cycle time is reached.

If the last cycle took already too long, it will return immediately. The last cycle time is updated, when this function is called.

Returns

returns the time the function waited

Definition at line 53 of file CycleUtil.cpp.

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Member Data Documentation

busyWaitShare

float busyWaitShare

protected

Definition at line 88 of file CycleUtil.h.

cycleCount

std::int64_t cycleCount

protected

Definition at line 86 of file CycleUtil.h.

cycleDuration

IceUtil::Time cycleDuration

protected

Definition at line 83 of file CycleUtil.h.

cycleMaxDuration

IceUtil::Time cycleMaxDuration

protected

Definition at line 85 of file CycleUtil.h.

cycleMinDuration

IceUtil::Time cycleMinDuration

protected

Definition at line 84 of file CycleUtil.h.

forceSystemTime

bool forceSystemTime

protected

Definition at line 87 of file CycleUtil.h.

lastCycleTime

IceUtil::Time lastCycleTime

protected

Definition at line 82 of file CycleUtil.h.

startTime

IceUtil::Time startTime

protected

Definition at line 81 of file CycleUtil.h.

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The documentation for this class was generated from the following files:

• ArmarXCore/core/time/CycleUtil.h
• ArmarXCore/core/time/CycleUtil.cpp