os/ratethread.cpp

Show a class for running some processing at a specified interval.

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-

/*
 * Copyright: (C) 2010 RobotCub Consortium
 * Authors: Lorenzo Natale
 * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
 */

// rate thread example -nat

#include <stdio.h>

#include <yarp/os/RateThread.h>
#include <yarp/os/Time.h>
#include <yarp/os/Thread.h>

using namespace yarp::os;

class Thread1 : public RateThread {
public:
        Thread1(int r):RateThread(r){}
    virtual bool threadInit()
        {
                printf("Starting thread1\n");
                return true;
        }

        //called by start after threadInit, s is true iff the thread started
        //successfully
        virtual void afterStart(bool s)
        {
                if (s)
                        printf("Thread1 started successfully\n");
                else
                        printf("Thread1 did not start\n");
        }

    virtual void run() 
    {
        printf("Hello, from thread1\n");
    }

    virtual void threadRelease()
        {
                printf("Goodbye from thread1\n");
        }
};

class Thread2: public RateThread {
public:
        Thread2(int r):RateThread(r){}
        virtual bool threadInit()
        {
                printf("Starting thread2\n");
                return true; 
        }

        //called by start after threadInit, s is true iff the thread started
        //successfully
        virtual void afterStart(bool s)
        {
                if (s)
                        printf("Thread2 started successfully\n");
                else
                        printf("Thread2 did not start\n");
        }

        virtual void run()
        {
                printf("Hello, from thread2\n");
        }

        virtual void threadRelease()
        {
                printf("Goodbye from thread2\n");
        }
};

int main() {
    Thread1 t1(500);  //run every 500ms
        Thread2 t2(1000); //run every 1s
        printf("thread1 rate is %d[ms]\n", 500);
        printf("thread2 rate is %d[ms]\n", 1000);

        printf("Starting threads...\n");
    bool ok=t1.start();
    ok = ok&&t2.start();
        if (!ok)
        {
            printf("One of the thread failed to initialize, returning\n");
            return -1;
        }

    Time::delay(3);
    printf("Thread1 ran %d times, estimated rate: %.lf[ms]\n", t1.getIterations(), t1.getEstPeriod());
    printf("Thread2 ran %d times, estimated rate: %.lf[ms]\n", t2.getIterations(), t2.getEstPeriod());

    printf("suspending threads...\n");
        t1.suspend();
    t2.suspend();

        printf("Waiting some time");
        for(int k=1;k<20;k++)
        {
            printf(".");
            fflush(stdout);
            Time::delay(0.2); //200[ms]
        }
        printf("\n");


        printf("Changing thread1 rate to %d[ms]\n", 250);
        printf("Changing thread2 rate to %d[ms]\n", 500);

        t1.setRate(250);
    t2.setRate(500);

        printf("Resuming threads...\n");
    t1.resetStat();
    t2.resetStat();
        t1.resume();
    t2.resume();

        Time::delay(3);
    
    printf("Thread1 ran %d times, estimated rate: %.lf[ms]\n", t1.getIterations(), t1.getEstPeriod());
    printf("Thread2 ran %d times, estimated rate: %.lf[ms]\n", t2.getIterations(), t2.getEstPeriod());
    t1.stop();
    t2.stop();
    printf("stopped\n");

    return 0;
}