Metronome.cpp

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#include "Metronome.h"
 
#include <ArmarXCore/core/time/Clock.h>
 
namespace armarx::core::time
{
 
    Metronome::Metronome(const Frequency& targetFrequency, ClockType clockType, NextTickMode mode) :
        _clock{clockType}, _targetPeriod{targetFrequency.toCycleDuration()}
    {
        reset(mode);
    }
 
    Metronome::Metronome(const Duration& targetPeriod, ClockType clockType) :
        _clock{clockType}, _targetPeriod{targetPeriod}
    {
        reset();
    }
 
    Metronome::Metronome(const Duration& targetPeriod, const Clock& clock) :
        _clock{clock}, _targetPeriod(targetPeriod)
    {
        reset();
    }
 
    Duration
    Metronome::waitForNextTick() const
    {
        const Duration waitTime = _clock.waitUntil(_nextCheckpoint);
        _nextCheckpoint += _targetPeriod;
        return waitTime;
    }
 
    void
    Metronome::reset(NextTickMode mode) const
    {
        _nextCheckpoint =
            mode == NextTickMode::wait_for_next_tick ? _clock.now() + _targetPeriod : _clock.now();
    }
 
} // namespace armarx::core::time