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modify rates to allow ctrl-c to interrupt sleep

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This commit is contained in:
William Woodall 2014-08-29 17:50:47 -07:00
parent b78164e4fe
commit 680e536f10
1 changed files with 14 additions and 9 deletions
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23
rclcpp/include/rclcpp/rate.hpp
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@ -21,6 +21,7 @@
#include <thread>
#include <rclcpp/macros.hpp>
#include <rclcpp/utilities.hpp>
namespace rclcpp
{
@ -37,18 +38,23 @@ public:
virtual void reset() = 0;
};
using std::chrono::duration;
using std::chrono::duration_cast;
using std::chrono::nanoseconds;
template<class Clock = std::chrono::high_resolution_clock>
class GenericRate : public RateBase
{
public:
RCLCPP_MAKE_SHARED_DEFINITIONS(GenericRate);
GenericRate(double rate) : rate_(rate), last_interval_(Clock::now())
{
typedef std::chrono::nanoseconds nanoseconds;
auto tmp = std::chrono::duration<double>(1.0f/rate_);
period_ = std::chrono::duration_cast<nanoseconds>(tmp);
}
GenericRate(double rate)
: GenericRate<Clock>(
duration_cast<nanoseconds>(duration<double>(1.0/rate)))
{}
GenericRate(std::chrono::nanoseconds period)
: period_(period), last_interval_(Clock::now())
{}
virtual bool
sleep()
@ -80,8 +86,8 @@ public:
// Either way do not sleep and return false
return false;
}
// Sleep
std::this_thread::sleep_for(time_to_sleep);
// Sleep (will get interrupted by ctrl-c, may not sleep full time)
rclcpp::utilities::sleep_for(time_to_sleep);
return true;
}
@ -100,7 +106,6 @@ public:
private:
RCLCPP_DISABLE_COPY(GenericRate);
double rate_;
std::chrono::nanoseconds period_;
std::chrono::time_point<Clock> last_interval_;