C++ (Cpp) Rate::expectedCycleTime Examples

Example #1

File: hmc5883l.cpp Project: Flystix/FroboMind

hmc5883l::hmc5883l(i2cfile* i2c_ptr, ros::NodeHandle* nh_ptr, ros::Rate rate, hmc5883l_callBackFunc dataReadyCallBack = 0) {
	ROS_INFO("HMC5883L : Initializing");
	char str[80];
	i2c = i2c_ptr;
	sem_init(&lock, 0, 1);
	ctl_reg_a = (0x03 << HMC5883L_MA0) | (0x06 << HMC5883L_DO0) | (0x00 << HMC5883L_MS0);
	i2c->write_byte(addr, HMC5883L_CONF_REG_A, ctl_reg_a);

	mode_reg = (0x00 << HMC5883L_MD0);
	i2c->write_byte(addr, HMC5883L_MODE_REG, mode_reg);

	setScale(hmc5883l_scale_130);

	nh = nh_ptr;
	timer = nh->createTimer(rate, &hmc5883l::timerCallback, this);
	if (dataReadyCallBack)
		dataCallback = dataReadyCallBack;

	sprintf(str, "Sampling @ %2.2f Hz", (float) 1.0f / rate.expectedCycleTime().toSec());
	ROS_INFO("HMC5883L : \t%s", str);
	ROS_INFO("HMC5883L : Initialization done");
}

Example #2

File: micromag.cpp Project: Flystix/FroboMind

micromag::micromag(i2cfile* i2c_ptr, ros::NodeHandle* nh_ptr, ros::Rate rate,
                   micromag_callBackFunc dataReadyCallBack = 0, int windowSize = 32) {
	ROS_INFO("micromag : Initializing");
	char str[80];
	i2c = i2c_ptr;

	sem_init(&lock, 0, 1);

	double freq = 1 / rate.expectedCycleTime().toSec();

	setWindow(windowSize);

	nh = nh_ptr;
	timer = nh->createTimer(rate, &micromag::timerCallback, this);
	if (dataReadyCallBack)
		dataCallback = dataReadyCallBack;

	sprintf(str, "Sampling @ %2.2f Hz", freq);
	ROS_INFO("micromag : \t%s", str);
	ROS_INFO("micromag : Initialization done");

	// Probe device... Return 0 on failure..
}