Threading & Time Utilities¶

These helper classes provide task scheduling, thread management, and lightweight timing measurements. They are lower-level building blocks that sit beneath the main robot client APIs.

Headers

Type	Header
`rb::EventLoop`	`#include <rby1-sdk/base/event_loop.h>`
`rb::Thread`	`#include <rby1-sdk/base/thread.h>`
`rb::TimeWatch`	`#include <rby1-sdk/base/time_util.h>`

Public Member Functions

Type or method group	Purpose	Notes
`rb::EventLoop`	Queue one-shot or cyclic work, pause execution, and wait for tasks.	Use in support utilities rather than high-level robot control.
`rb::Thread`	Configure thread name, affinity, and OS priority before running work.	Useful when timing behavior matters.
`rb::TimeWatch`	Record elapsed time measurements.	Handy in profiling and timing-sensitive utilities.

Detailed Reference

class EventLoop¶

Public Functions

inline EventLoop()¶

inline explicit EventLoop(std::unique_ptr<Thread> thd)¶

inline ~EventLoop() noexcept¶

template<typename F, typename ...A, typename R = std::invoke_result_t<std::decay_t<F>, std::decay_t<A>...>> inline R DoTask(F &&task, A&&... args)¶

inline void Pause()¶

inline void PurgeTasks()¶

inline void PushCyclicTask(const std::function<void()> &cb, std::chrono::nanoseconds period, std::chrono::nanoseconds offset = std::chrono::nanoseconds{0})¶

template<typename F, typename ...A> inline void PushLoopTask(F &&task, A&&... args)¶

template<typename F, typename ...A> inline void PushTask(F &&task, A&&... args)¶

inline void Stop()¶

template<typename F, typename ...A, typename R = std::invoke_result_t<std::decay_t<F>, std::decay_t<A>...>> inline std::future<R> Submit(F &&task, A&&... args)¶

inline void Unpause()¶

inline void WaitForTasks() noexcept¶

class Thread¶

Public Types

using Functor = std::function<void()>¶

Public Functions

inline Thread(std::string name = "", int cpuid = -1, int priority = 0, int policy = POLICY_DEFAULT_VALUE)¶

inline ~Thread()¶

inline bool IsRunning() const¶

inline void Join()¶

inline void SetAffinity(int cpuid)¶

inline void SetName(const std::string &name)¶

inline void SetOSPriority(int priority, int policy)¶

inline void StartFunc(const Functor &func)¶

class TimeWatch¶

Public Functions

inline TimeWatch()¶

inline long GetDurationInNs(bool record = false)¶

inline void Record()¶

Related Types

Examples

real_time_control_command.cpp is the most relevant example whenever execution timing matters.