ThreadedNsTimer.java

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package com.neuronrobotics.sdk.util;
 
// TODO: Auto-generated Javadoc
public class ThreadedNsTimer extends Thread {
    
    private IThreadedNsTimerListener listener;
    
    private long startTime;
    
    private long currentInterval;
    
    private long timerInterval;
    
    private long loopIndex=0;
    
    private boolean running=true;
    
    private boolean failOnRealtime;
    
    public ThreadedNsTimer(IThreadedNsTimerListener l, long nsInterval, boolean failOnRealtime) {
        listener=l;
        timerInterval = nsInterval;
        this.failOnRealtime = failOnRealtime;
        if(l==null)
            throw new NullPointerException();
        if(nsInterval<10000){
            throw new RuntimeException("This is below the resolution of the timer: "+nsInterval);
        }
                
    }
    
    private long recalculateTarget(){
        currentInterval = getStartTime() + (timerInterval*loopIndex);
 
        return System.nanoTime()-currentInterval;
    }
    
    /* (non-Javadoc)
     * @see java.lang.Thread#run()
     */
    public void run(){
        setName("Bowler Platform Threaded timer instance");
        setStartTime(System.nanoTime());
        recalculateTarget();
        while(isRunning()){
            java.util.concurrent.locks.LockSupport.parkNanos(1);
            long diff = recalculateTarget();
            if(diff>0){
                listener.onTimerInterval(loopIndex++);
                if(recalculateTarget()>0){
                    if(failOnRealtime ){
                        try{
                            throw new RuntimeException("Real time broken!!");
                        }catch(Exception ex){
                            ex.printStackTrace();
                        }
                    }
                }
            }
        }
        throw new RuntimeException("Real time exeted");
    }
 
    public boolean isRunning() {
        return running;
    }
 
    public void setRunning(boolean running) {
        this.running = running;
    }
 
    public long getStartTime() {
        return startTime;
    }
 
    private void setStartTime(long startTime) {
        this.startTime = startTime;
    }
 
 
}