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.
IceUtil::Time	getLastCycleTime () const
	Time when the last cycle finished or start time.
IceUtil::Time	getMaximumDuration () const
IceUtil::Time	getMinimumDuration () const
IceUtil::Time	getStartTime () const
	Time when object was constructed or reset was last called.
void	reset ()
	resets startTime, lastCycleTime and cycleCount.
void	setBusyWaitShare (float value)
IceUtil::Time	update ()
IceUtil::Time	waitForCycleDuration ()
	This function will wait (virtual or system time) until the cycle time is reached.

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.

Constructor & Destructor Documentation

CycleUtil() [1/2]

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

CycleUtil() [2/2]

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

Member Function Documentation

getAverageDuration()

IceUtil::Time getAverageDuration

(

)

const

getBusyWaitShare()

float getBusyWaitShare

(

)

const

getCycleCount()

std::int64_t getCycleCount

(

)

const

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

how often waitForCycleDuration() was called.

getLastCycleTime()

IceUtil::Time getLastCycleTime

(

)

const

Time when the last cycle finished or start time.

getMaximumDuration()

IceUtil::Time getMaximumDuration

(

)

const

getMinimumDuration()

IceUtil::Time getMinimumDuration

(

)

const

getStartTime()

IceUtil::Time getStartTime

(

)

const

Time when object was constructed or reset was last called.

now()

IceUtil::Time now ( )

staticprotected

reset()

void reset

(

)

resets startTime, lastCycleTime and cycleCount.

setBusyWaitShare()

void setBusyWaitShare

(

float

value

)

update()

IceUtil::Time update

(

)

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

Member Data Documentation

busyWaitShare

float busyWaitShare

protected

cycleCount

std::int64_t cycleCount

protected

cycleDuration

IceUtil::Time cycleDuration

protected

cycleMaxDuration

IceUtil::Time cycleMaxDuration

protected

cycleMinDuration

IceUtil::Time cycleMinDuration

protected

forceSystemTime

bool forceSystemTime

protected

lastCycleTime

IceUtil::Time lastCycleTime

protected

startTime

IceUtil::Time startTime

protected

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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