From 7e90504e8442db1574835218f4e9e476ad56dec1 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 26 Jan 2023 15:57:37 +0100
Subject: [PATCH] Change to running task to reduce IMPORTANT log by periodic
task
---
.../components/RobotToArViz/RobotToArViz.cpp | 26 ++++++++++++++-----
.../components/RobotToArViz/RobotToArViz.h | 7 ++---
2 files changed, 23 insertions(+), 10 deletions(-)
diff --git a/source/RobotAPI/components/RobotToArViz/RobotToArViz.cpp b/source/RobotAPI/components/RobotToArViz/RobotToArViz.cpp
index e59bbc111..1311e68e1 100644
--- a/source/RobotAPI/components/RobotToArViz/RobotToArViz.cpp
+++ b/source/RobotAPI/components/RobotToArViz/RobotToArViz.cpp
@@ -24,7 +24,7 @@
#include <filesystem>
-#include <ArmarXCore/core/time/CycleUtil.h>
+#include <ArmarXCore/core/time/Metronome.h>
namespace armarx
@@ -39,7 +39,7 @@ namespace armarx
armarx::PropertyDefinitionsPtr defs(new RobotToArVizPropertyDefinitions(getConfigIdentifier()));
// defs->optional(updateFrequency, "updateFrequency", "Target number of updates per second.");
- defs->defineOptionalProperty("updateFrequency", updateFrequency, "Target number of updates per second.");
+ defs->defineOptionalProperty("updateFrequency", updateFrequencyHz, "Target number of updates per second.");
defs->optional(gui.useCollisionModel, "UseCollisionModel", "Use the collision model for visualization");
defs->optional(gui.showRobotNodeFrames, "ShowRobotNodeFrames",
@@ -57,7 +57,7 @@ namespace armarx
void RobotToArViz::onInitComponent()
{
- getProperty(updateFrequency, "updateFrequency");
+ getProperty(updateFrequencyHz, "updateFrequency");
}
@@ -83,10 +83,10 @@ namespace armarx
createRemoteGuiTab();
RemoteGui_startRunningTask();
- task = new SimplePeriodicTask<>([this]()
+ task = new SimpleRunningTask<>([this]()
{
- this->updateRobot();
- }, int(1000 / updateFrequency));
+ this->updateRobotRun();
+ });
task->start();
}
@@ -135,7 +135,19 @@ namespace armarx
}
- void RobotToArViz::updateRobot()
+ void RobotToArViz::updateRobotRun()
+ {
+ Metronome metronome(Frequency::Hertz(updateFrequencyHz));
+ while (task and not task->isStopped())
+ {
+ updateRobotOnce();
+
+ metronome.waitForNextTick();
+ }
+ }
+
+
+ void RobotToArViz::updateRobotOnce()
{
RobotState::synchronizeLocalClone(robotName);
diff --git a/source/RobotAPI/components/RobotToArViz/RobotToArViz.h b/source/RobotAPI/components/RobotToArViz/RobotToArViz.h
index e666ba1b1..5eea92090 100644
--- a/source/RobotAPI/components/RobotToArViz/RobotToArViz.h
+++ b/source/RobotAPI/components/RobotToArViz/RobotToArViz.h
@@ -96,14 +96,15 @@ namespace armarx
private:
- void updateRobot();
+ void updateRobotRun();
+ void updateRobotOnce();
static bool trySetFilePathFromDataDir(viz::Robot& robotViz, const std::string& absolutePath);
private:
- float updateFrequency = 100;
- SimplePeriodicTask<>::pointer_type task;
+ float updateFrequencyHz = 100;
+ SimpleRunningTask<>::pointer_type task;
std::string robotName = "robot";
--
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