rate.Rate Class Reference

A convenience class for sleeping in a loop at a specified rate using perf_counter_ns for high precision. More...

Public Member Functions
None	__init__ (self, float hz, bool reset=False)
	Initializes the Rate object with a specified rate in Hertz (Hz) and an optional reset flag.
float	remaining (self)
	Returns the time remaining (in seconds) before the next sleep interval.
None	sleep (self)
	Attempts to sleep at the specified rate.

Public Attributes
int	last_time_ns = time.perf_counter_ns()
int	sleep_dur_ns

Protected Member Functions
int	_remaining (self, int curr_time_ns)
	Calculates the remaining time (in nanoseconds) before the next sleep interval.

Protected Attributes
bool	_reset = reset

Detailed Description

A convenience class for sleeping in a loop at a specified rate using perf_counter_ns for high precision.

This class calculates the required sleep duration between loop iterations based on a specified rate (in Hz), and attempts to maintain that rate by sleeping for the appropriate amount of time. The rate is measured using nanoseconds for high precision.

Constructor & Destructor Documentation

__init__()

None rate.Rate.__init__	(		self,
		float	hz,
		bool	reset = False )

Initializes the Rate object with a specified rate in Hertz (Hz) and an optional reset flag.

Parameters

hz	The target rate in Hertz (loops per second) to determine the sleep duration.
reset	If True, resets the timer if the system time moves backward. Defaults to False.

Member Function Documentation

_remaining()

int rate.Rate._remaining ( self, int curr_time_ns )

protected

Calculates the remaining time (in nanoseconds) before the next sleep interval.

Parameters

curr_time_ns

The current time in nanoseconds.

Returns

: The remaining time to sleep in nanoseconds. @raises RuntimeError: If time moved backward and reset is False.

remaining()

float rate.Rate.remaining

(

self

)

Returns the time remaining (in seconds) before the next sleep interval.

Returns

: The remaining sleep time in seconds.

sleep()

None rate.Rate.sleep

(

self

)

Attempts to sleep at the specified rate.

This method calculates the remaining time for the current cycle and sleeps for that duration to maintain the target rate. If the system time moved backward, a warning is printed. If the reset flag is set to False, a RuntimeError is raised.

@raises RuntimeError: If the system time moved backward and reset is False.

Member Data Documentation

_reset

bool rate.Rate._reset = reset

protected

last_time_ns

int rate.Rate.last_time_ns = time.perf_counter_ns()

sleep_dur_ns

int rate.Rate.sleep_dur_ns

Initial value:

=  int(
            1e9 / hz
        )

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The documentation for this class was generated from the following file:

• ark/client/frequencies/rate.py