Allow fixed freq loop to specify real time delta (#67)

Allow fixed freq loop to specify real time delta

Author: pylessard

cwrapper/scrutiny_cwrapper.cpp

@@ -162,9 +162,9 @@ extern "C"
         return reinterpret_cast<scrutiny_c_loop_handler_ff_t *>(new (mem) scrutiny::FixedFrequencyLoopHandler(timestep_100ns, name)); // Placement new
     }
 
-    void scrutiny_c_loop_handler_fixed_freq_process(scrutiny_c_loop_handler_ff_t *loop_handler)
+    void scrutiny_c_loop_handler_fixed_freq_process(scrutiny_c_loop_handler_ff_t *loop_handler, scrutiny_c_timediff_t const timestep_100n)
     {
-        get_loop_handler_ff(loop_handler)->process();
+        get_loop_handler_ff(loop_handler)->process(timestep_100n);
     }
 
     scrutiny_c_loop_handler_vf_t *scrutiny_c_loop_handler_variable_freq_construct(void *mem, size_t const size, char const *name)

cwrapper/scrutiny_cwrapper.h

@@ -196,7 +196,8 @@ extern "C"
     /// @brief Wrapper for `FixedFrequencyLoopHandler::process()`
     /// Process function be called at each iteration of the loop.
     /// @param loop_handler The `FixedFrequencyLoopHandler` object to work on
-    void scrutiny_c_loop_handler_fixed_freq_process(scrutiny_c_loop_handler_ff_t *loop_handler);
+    /// @param timestep_100n The real, used when graphing with MeasuredTime
+    void scrutiny_c_loop_handler_fixed_freq_process(scrutiny_c_loop_handler_ff_t *loop_handler, scrutiny_c_timediff_t const timestep_100n);
 
     /// @brief Wrapper for `VariableFrequencyLoopHandler::VariableFrequencyLoopHandler()`.
     /// Construct `scrutiny::VariableFrequencyLoopHandler` object at a given address. Fails if `mem` is NULL or if the size is not big enough.

lib/inc/scrutiny_loop_handler.hpp

@@ -156,8 +156,13 @@ namespace scrutiny
                                                                                                      m_timestep_100ns(timestep_100ns)
         {
         }
+
+        /// @brief Process function be called at each iteration of the loop.
+        void process();
+
         /// @brief Process function be called at each iteration of the loop.
-        void process(void);
+        /// @param timestep_100ns Time delta since last call to process() in multiple of 100ns
+        void process(timediff_t const timestep_100ns);
 
         /// @brief Return the type of loop handler
         virtual LoopType loop_type(void) const override { return LoopType::FIXED_FREQ; }
@@ -185,7 +190,7 @@ namespace scrutiny
 
         /// @brief Process function be called at each iteration of the loop.
         /// @param timestep_100ns Time delta since last call to process() in multiple of 100ns
-        void process(timediff_t timestep_100ns);
+        void process(timediff_t const timestep_100ns);
 
         /// @brief Return the type of loop handler
         virtual LoopType loop_type(void) const override { return LoopType::VARIABLE_FREQ; }

lib/src/scrutiny_loop_handler.cpp

@@ -113,9 +113,14 @@ namespace scrutiny
     {
         process_common(m_timestep_100ns);
     }
-    void VariableFrequencyLoopHandler::process(timediff_t const timestep_100ns)
+
+    void FixedFrequencyLoopHandler::process(timediff_t const timestep_100ns)
     {
         process_common(timestep_100ns);
     }
 
+    void VariableFrequencyLoopHandler::process(timediff_t const timestep_100ns)
+    {
+        process_common(timestep_100ns);
+    }
 }

projects/c_testapp/src/main.c

@@ -447,9 +447,10 @@ void process_scrutiny_lib(comm_channel_interface_t *channel)
             }
             printf("\n");
         }
-
-        scrutiny_c_loop_handler_variable_freq_process(vf_loop, timestep_us*10);
-        scrutiny_c_loop_handler_fixed_freq_process(ff_loop);
+        
+        uint32_t const timestep_100ns = timestep_us*10;
+        scrutiny_c_loop_handler_variable_freq_process(vf_loop, timestep_100ns);
+        scrutiny_c_loop_handler_fixed_freq_process(ff_loop, timestep_100ns);
 #if SCRUTINY_BUILD_WINDOWS
         Sleep(10);
 #else

projects/testapp/src/main.cpp

@@ -446,7 +446,7 @@ void process_scrutiny_lib(AbstractCommChannel *channel)
             }
 
             vf_loop.process(timestep_us * 10);
-            ff_loop.process();
+            ff_loop.process(timestep_us * 10);
 #if SCRUTINY_BUILD_WINDOWS
             Sleep(10);
 #else