Simple rate limiter for use in loops to maintain a certain frequency given a clock. More...

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

Public Member Functions
	Metronome (const Duration &targetPeriod, ClockType clockType=ClockType::Virtual)
	Constructs a new rate limiter with given target period and clock type. More...

	Metronome (const Duration &targetPeriod, const Clock &clock)
	Constructs a new rate limiter with given target period and clock. More...

	Metronome (const Frequency &targetFrequency, ClockType clockType=ClockType::Virtual)

void	reset ()
	Resets the rate limiter so that the next targetted time point will be in the current time plus the target period. More...

Duration	waitForNextTick ()
	Wait and block until the target period is met. More...

Detailed Description

Simple rate limiter for use in loops to maintain a certain frequency given a clock.

In most cases, it is enough sufficient to construct a rate limiter with a given target duration (or target period). This will then use virtual time. In cases where a specific clock is required, a constructor taking a clock or clock type can be used.

Code example:

using namespace armarx;
 
Metronome m{Frequeny::hertz(100)}; // For a 100Hz loop.
while (condition)
{
    operation();
 
    const Duration waitingTime = m.waitForNextTick();
    ARMARX_INFO << "We now waited " << waitingTime << ".";
}

Definition at line 34 of file Metronome.h.

Constructor & Destructor Documentation

◆ Metronome() [1/3]

Metronome	(	const Frequency &	targetFrequency,
		ClockType	clockType = `ClockType::Virtual`
	)

Definition at line 8 of file Metronome.cpp.

◆ Metronome() [2/3]

Metronome	(	const Duration &	targetPeriod,
		ClockType	clockType = `ClockType::Virtual`
	)

Constructs a new rate limiter with given target period and clock type.

Parameters

targetPeriod	Period to target for in loops etc.
clockType	Type of clock to use to assess time.

Definition at line 14 of file Metronome.cpp.

◆ Metronome() [3/3]

Metronome	(	const Duration &	targetPeriod,
		const Clock &	clock
	)

Constructs a new rate limiter with given target period and clock.

Parameters

targetPeriod	Period to target for in loops etc.
clock	Clock to use to assess time.

Definition at line 20 of file Metronome.cpp.

Member Function Documentation

◆ reset()

void reset ( )

Resets the rate limiter so that the next targetted time point will be in the current time plus the target period.

Definition at line 35 of file Metronome.cpp.

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◆ waitForNextTick()

Duration waitForNextTick ( )

Wait and block until the target period is met.

Returns: The duration the rate limiter waited for. Can be negative if the next deadline was missed.

Definition at line 27 of file Metronome.cpp.