Timer get_elapsed_time() now returns ACTUAL time. Added time example

Author: epezent

examples/CMakeLists.txt

@@ -20,6 +20,7 @@ mel_example(comms_server)
 mel_example(virtual_daq)
 mel_example(serial)
 mel_example(csv)
+mel_example(time)
 
 # windows only examples
 if(WIN32)

examples/ex_ctrl_c_handling.cpp

@@ -19,13 +19,14 @@
 
 using namespace mel;
 
-ctrl_bool flag(false);
+ctrl_bool g_stop_flag(false);
+
 bool my_handler(CtrlEvent event) {
     if (event == CtrlEvent::CtrlC)
         print("Ctrl-C Pressed");
     else if (event == CtrlEvent::CtrlQuit) {
         print("Ctrl-Break or Ctrl-\\ Pressed");
-        flag = true;
+        g_stop_flag = true;
     }
     // ... check other Ctrl values as needed
     return 1;
@@ -34,7 +35,7 @@ bool my_handler(CtrlEvent event) {
 int main() {
     print("Press Ctrl+C to continue, or Ctrl+Break to exit");
     register_ctrl_handler(my_handler);
-    while (!flag) {
+    while (!g_stop_flag) {
     }
     return 0;
 }

examples/ex_haptic_paddle.cpp

@@ -353,7 +353,7 @@ int main(int argc, char* argv[]) {
 
         // compute torque
         if (input.count("t") > 0)
-            torque = tunnel(hp[0].get_position(), filtered_vel, timer.get_elapsed_time_actual());
+            torque = tunnel(hp[0].get_position(), filtered_vel, timer.get_elapsed_time());
         else if (input.count("w") > 0)
             torque = wall(hp[0].get_position(), filtered_vel);
         else if (input.count("n") > 0)

examples/ex_math.cpp

@@ -41,7 +41,7 @@ int main() {
     std::vector<double> data(6);
 
     // loop
-    while (timer.get_elapsed_time_actual() < seconds(5)) {
+    while (timer.get_elapsed_time() < seconds(5)) {
         // get current time in seconds
         double t = timer.get_elapsed_time().as_seconds();
         data[0] = t;

examples/ex_options.cpp

@@ -30,10 +30,12 @@ int main(int argc, char* argv[]) {
     // add options
     // options can be short, long, or both (short must come first)
     // for example:   options.exe -e   OR   options.exe --evan
-    options.add_options()("e,evan", "Prints a message from Evan.")(
-        "c,craig", "Prints a message from Craig.")(
-        "h,help", "Prints helpful information.")(
-        "i,integer", "Gets an integer from user.", value<int>());
+    options.add_options()
+        ("e,evan", "Prints a message from Evan.")
+        ("c,craig", "Prints a message from Craig.")
+        ("h,help", "Prints helpful information.")
+        ("i,integer", "Gets an integer from user.", value<int>())
+        ("d,double", "Gets a double from user.", value<double>());
 
     // parse options
     auto result = options.parse(argc, argv);
@@ -43,7 +45,7 @@ int main(int argc, char* argv[]) {
     if (result.count("evan") > 0)
         print("Hello, my name is Evan!");
 
-    if (result.count("craig") > 0)
+    if (result.count("c") > 0)
         print("Hello, my name is Craig!");
 
     if (result.count("help") > 0)
@@ -54,5 +56,10 @@ int main(int argc, char* argv[]) {
         print("You entered " + stringify(i));
     }
 
+    if (result.count("d") > 0) {
+        double d = result["d"].as<double>();
+        print("You entered " + stringify(d));
+    } 
+
     return 0;
 }

examples/ex_q2usb.cpp

@@ -66,7 +66,7 @@ int main() {
     // create 10 Hz Timer
     Timer timer(milliseconds(100));
     // start encoder loop
-    while (timer.get_elapsed_time_actual() < seconds(5) && !stop) {
+    while (timer.get_elapsed_time() < seconds(5) && !stop) {
         q2.update_input();
         print(q2.encoder.get_value(0));
         timer.wait();
@@ -82,10 +82,10 @@ int main() {
     Waveform wave(Waveform::Sin, seconds(0.25), 5.0);
     // start analog loopback loop
     timer.restart();
-    while (timer.get_elapsed_time_actual() < seconds(5) && !stop) {
+    while (timer.get_elapsed_time() < seconds(5) && !stop) {
         q2.update_input();
         print(q2.AI.get_value(0));
-        double voltage = wave.evaluate(timer.get_elapsed_time_actual());
+        double voltage = wave.evaluate(timer.get_elapsed_time());
         q2.AO.set_value(0, voltage);
         q2.update_output();
         timer.wait();
@@ -102,7 +102,7 @@ int main() {
     Logic signal = High;
     // start analog loopback loop
     timer.restart();
-    while (timer.get_elapsed_time_actual() < seconds(5) && !stop) {
+    while (timer.get_elapsed_time() < seconds(5) && !stop) {
         q2.DIO.update();
         print((int)q2.DIO[0].get_value());
         signal = (Logic)(High - signal);
@@ -122,7 +122,7 @@ int main() {
     options.set_led_mode(QuanserOptions::LedMode::User);
     q2.set_options(options);
     timer.restart();
-    while (timer.get_elapsed_time_actual() < seconds(10) && !stop) {
+    while (timer.get_elapsed_time() < seconds(10) && !stop) {
         if (Keyboard::is_key_pressed(Key::L))
             q2.set_led(High);
         else

examples/ex_q8usb.cpp

@@ -77,7 +77,7 @@ int main() {
     // create 10 Hz Timer
     Timer timer(milliseconds(100));
     // start encoder loop
-    while (timer.get_elapsed_time_actual() < seconds(5) && !stop) {
+    while (timer.get_elapsed_time() < seconds(5) && !stop) {
         q8.update_input();
         print(q8.encoder[0].get_value());
         timer.wait();
@@ -94,10 +94,10 @@ int main() {
     Waveform wave(Waveform::Sin, seconds(0.25), 5.0);
     // start analog loopback loop
     timer.restart();
-    while (timer.get_elapsed_time_actual() < seconds(5) && !stop) {
+    while (timer.get_elapsed_time() < seconds(5) && !stop) {
         q8.update_input();
         print(q8.AI.get_value(0));
-        double voltage = wave(timer.get_elapsed_time_actual());
+        double voltage = wave(timer.get_elapsed_time());
         q8.AO.set_value(0, voltage);
         q8.update_output();
         timer.wait();
@@ -113,7 +113,7 @@ int main() {
     Logic signal = High;
     // start analog loopback loop
     timer.restart();
-    while (timer.get_elapsed_time_actual() < seconds(5) && !stop) {
+    while (timer.get_elapsed_time() < seconds(5) && !stop) {
         q8.update_input();
         print((bool)q8.DI.get_value(0));
         signal = (Logic)(High - signal);
@@ -139,7 +139,7 @@ int main() {
     // start watchdog
     q8.watchdog.start();
     timer.restart();
-    while (timer.get_elapsed_time_actual() < seconds(5) && !stop) {
+    while (timer.get_elapsed_time() < seconds(5) && !stop) {
         // simulate a missed deadline if W pressed
         if (Keyboard::is_key_pressed(Key::W)) {
             print("The program missed it's deadline!");

include/MEL/Core/Timer.hpp

@@ -58,15 +58,15 @@ class Timer {
     /// Restarts the Timer and returns the elapsed time
     Time restart();
 
-    /// Waits the Timer and returns the ideal elapsed time after the wait completes
+    /// Waits the Timer and returns the actual elapsed time after the wait completes
     Time wait();
 
-    /// Gets the ideal elapsed time since construction or last call to
-    /// restart(). Equal to the tick count times the Timer period
+    /// Gets the actual elapsed time since construction or last call to restart().
     Time get_elapsed_time() const;
 
-    /// Gets the actual elapsed time since construction or last call to restart().
-    Time get_elapsed_time_actual() const;
+    /// Gets the ideal elapsed time since construction or last call to
+    /// restart(). Equal to the tick count times the Timer period
+    Time get_elapsed_time_ideal() const;
 
     /// Gets the elapsed number of ticks since construction or the last call to restart().
     int64 get_elapsed_ticks() const;

src/MEL/Core/Timer.cpp

@@ -69,11 +69,11 @@ Time Timer::wait() {
     return get_elapsed_time();
 }
 
-Time Timer::get_elapsed_time_actual() const {
+Time Timer::get_elapsed_time() const {
     return clock_.get_elapsed_time();
 }
 
-Time Timer::get_elapsed_time() const {
+Time Timer::get_elapsed_time_ideal() const {
     return period_ * ticks_;
 }
 
@@ -98,7 +98,7 @@ Time Timer::get_period() const {
 }
 
 double Timer::get_wait_ratio() const {
-    return waited_.as_seconds() / get_elapsed_time_actual().as_seconds();
+    return waited_.as_seconds() / get_elapsed_time().as_seconds();
 }
 
 void Timer::set_acceptable_miss_rate(double rate) {