Replace RateThread with PeriodicThread

robotology · Jul 5, 2022 · 31c6650 · 31c6650
1 parent a45ae7a
commit 31c6650
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Showing 3 changed files with 9 additions and 9 deletions.
diff --git a/amti/src/AMTIPlatformsDriver.cpp b/amti/src/AMTIPlatformsDriver.cpp
@@ -12,18 +12,18 @@
 #include <cmath>
 
 #include <yarp/os/LogStream.h>
-#include <yarp/os/RateThread.h>
+#include <yarp/os/PeriodicThread.h>
 #include <yarp/os/Time.h>
 #include <yarp/dev/IAnalogSensor.h>
 
-class yarp::dev::AMTIPlatformsDriver::AMTIReaderThread : public yarp::os::RateThread
+class yarp::dev::AMTIPlatformsDriver::AMTIReaderThread : public yarp::os::PeriodicThread
 {
     yarp::dev::AMTIPlatformsDriver &driver;
     double timeout;
 
 public:
     AMTIReaderThread(yarp::dev::AMTIPlatformsDriver& _driver, int period, double _timeout)
-        : yarp::os::RateThread(period), driver(_driver), timeout(_timeout) {}
+        : yarp::os::PeriodicThread(period), driver(_driver), timeout(_timeout) {}
 
     virtual void run()
     {

diff --git a/ftShoeUdpWrapper/ftShoeUdpWrapper.cpp b/ftShoeUdpWrapper/ftShoeUdpWrapper.cpp
@@ -26,7 +26,7 @@ const unsigned AS_OVF = yarp::dev::IAnalogSensor::AS_OK;
 const unsigned AS_TIMEOUT = yarp::dev::IAnalogSensor::AS_OK;
 
 ftShoeUdpWrapper::ftShoeUdpWrapper()
-    : RateThread(default_thread_period)
+    : PeriodicThread(default_thread_period)
     , m_1_timestamp(new yarp::os::Stamp())
     , m_2_timestamp(new yarp::os::Stamp())
     , m_initialTimestamp(0)
@@ -78,7 +78,7 @@ bool ftShoeUdpWrapper::open(yarp::os::Searchable& config)
     m_port = static_cast<unsigned>(prop.find("udpPort").asInt32());
     const int threadPeriod = prop.find("threadPeriod").asInt32();
 
-    if (!setRate(threadPeriod)) {
+    if (!setPeriod(threadPeriod)) {
         yError() << logPrefix + "Failed to set specified thread period";
         return false;
     }
@@ -181,7 +181,7 @@ bool ftShoeUdpWrapper::detachAll()
 }
 
 // ================
-// RateThread class
+// PeriodicThread class
 // ================
 
 void ftShoeUdpWrapper::run()

diff --git a/ftShoeUdpWrapper/ftShoeUdpWrapper.h b/ftShoeUdpWrapper/ftShoeUdpWrapper.h
@@ -11,7 +11,7 @@
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/Wrapper.h>
 
-#include <yarp/os/RateThread.h>
+#include <yarp/os/PeriodicThread.h>
 
 #include <yarp/sig/Vector.h>
 
@@ -36,7 +36,7 @@ class Stamp;
 
 class yarp::dev::ftShoeUdpWrapper final : public yarp::dev::DeviceDriver,
                                           public yarp::dev::IMultipleWrapper,
-                                          public yarp::os::RateThread {
+                                          public yarp::os::PeriodicThread {
 private:
     // Mutex to avoid race conditions
     std::mutex m_mutex;
@@ -90,7 +90,7 @@ class yarp::dev::ftShoeUdpWrapper final : public yarp::dev::DeviceDriver,
     bool attachAll(const PolyDriverList& devices2Attach) override;
     bool detachAll() override;
 
-    // RateThread class
+    // PeriodicThread class
     void run() override;
 };