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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-04 13:06:38 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-04 13:06:38 +0100 |
| commit | e0bb713bb03c0aa79e69496c787c012a8e1b78d1 (patch) | |
| tree | b71614bc124479dbe7a57b434872fc7deb39eb20 /src/platforms/px4_middleware.h | |
| parent | 0f094d35d5dd183e44148eb1acbd7b7d76fde669 (diff) | |
| download | px4-firmware-e0bb713bb03c0aa79e69496c787c012a8e1b78d1.tar.gz px4-firmware-e0bb713bb03c0aa79e69496c787c012a8e1b78d1.tar.bz2 px4-firmware-e0bb713bb03c0aa79e69496c787c012a8e1b78d1.zip | |
more documentation comments
Diffstat (limited to 'src/platforms/px4_middleware.h')
| -rw-r--r-- | src/platforms/px4_middleware.h | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/src/platforms/px4_middleware.h b/src/platforms/px4_middleware.h index dece72907..c1465b4b1 100644 --- a/src/platforms/px4_middleware.h +++ b/src/platforms/px4_middleware.h @@ -50,9 +50,15 @@ __EXPORT void init(int argc, char *argv[], const char *process_name); __EXPORT uint64_t get_time_micros(); #if defined(__linux) || (defined(__APPLE__) && defined(__MACH__)) +/** + * Returns true if the app/task should continue to run + */ bool ok() { return ros::ok(); } #else extern bool task_should_exit; +/** + * Returns true if the app/task should continue to run + */ bool ok() { return !task_should_exit; } #endif @@ -60,8 +66,15 @@ class Rate { public: + /** + * Construct the Rate object and set rate + * @param rate_hz rate from which sleep time is calculated in Hz + */ explicit Rate(unsigned rate_hz) { sleep_interval = 1e6 / rate_hz; } + /** + * Sleep for 1/rate_hz s + */ void sleep() { usleep(sleep_interval); } private: |