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use this_thread::sleep_for on Windows #32

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merged 3 commits into from
Feb 4, 2019
Merged

use this_thread::sleep_for on Windows #32

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7880623
convert usleep to sleep_for()
kejxu Jan 31, 2019
b043508
use thread and chrono only on Windows (#6)
kejxu Jan 31, 2019
31e53ff
remove the use of usleep
kejxu Feb 1, 2019
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11 changes: 11 additions & 0 deletions include/realtime_tools/realtime_buffer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,11 @@

#include <boost/thread/mutex.hpp>

#ifdef _WIN32
#include <chrono>
#include <thread>
#endif

namespace realtime_tools
{

Expand Down Expand Up @@ -154,7 +159,13 @@ class RealtimeBuffer
mutex_.lock();
#else
while (!mutex_.try_lock())
{
#ifdef _WIN32
std::this_thread::sleep_for(std::chrono::microseconds(500));
#else
usleep(500);
#endif
}
#endif
}

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31 changes: 27 additions & 4 deletions include/realtime_tools/realtime_publisher.h
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,11 @@
#include <boost/thread/thread.hpp>
#include <boost/thread/condition.hpp>

#ifdef _WIN32
#include <chrono>
#include <thread>
#endif

namespace realtime_tools {

template <class Msg>
Expand Down Expand Up @@ -78,7 +83,13 @@ class RealtimePublisher : boost::noncopyable
{
stop();
while (is_running())
{
#ifdef _WIN32
std::this_thread::sleep_for(std::chrono::microseconds(100));
#else
usleep(100);
#endif
}

publisher_.shutdown();
}
Expand Down Expand Up @@ -153,7 +164,13 @@ class RealtimePublisher : boost::noncopyable
#else
// never actually block on the lock
while (!msg_mutex_.try_lock())
{
#ifdef _WIN32
std::this_thread::sleep_for(std::chrono::microseconds(200));
#else
usleep(200);
#endif
}
#endif
}

Expand Down Expand Up @@ -190,11 +207,17 @@ class RealtimePublisher : boost::noncopyable
while (turn_ != NON_REALTIME && keep_running_)
{
#ifdef NON_POLLING
updated_cond_.wait(lock);
updated_cond_.wait(lock);
#else
unlock();
usleep(500);
lock();
unlock();

#ifdef _WIN32
std::this_thread::sleep_for(std::chrono::microseconds(500));
#else
usleep(500);
#endif

lock();
#endif
}
outgoing = msg_;
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11 changes: 11 additions & 0 deletions src/realtime_clock.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,11 @@

#include <realtime_tools/realtime_clock.h>

#ifdef _WIN32
#include <chrono>
#include <thread>
#endif

namespace realtime_tools
{

Expand Down Expand Up @@ -126,7 +131,13 @@ namespace realtime_tools
mutex_.lock();
#else
while (!mutex_.try_lock())
{
#ifdef _WIN32
std::this_thread::sleep_for(std::chrono::microseconds(500));
#else
usleep(500);
#endif
}
#endif
}

Expand Down