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              <p class="caption"><span class="caption-text">Setup</span></p>
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<li class="toctree-l1"><a class="reference internal" href="../../../install.html">How to install the CBD framework?</a></li>
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  <h1>Source code for CBD.realtime.threadingPython</h1><div class="highlight"><pre>
<span></span><span class="c1"># Copyright 2014 Modelling, Simulation and Design Lab (MSDL) at </span>
<span class="c1"># McGill University and the University of Antwerp (http://msdl.cs.mcgill.ca/)</span>
<span class="c1"># </span>
<span class="c1"># Licensed under the Apache License, Version 2.0 (the &quot;License&quot;);</span>
<span class="c1"># you may not use this file except in compliance with the License.</span>
<span class="c1"># You may obtain a copy of the License at</span>
<span class="c1">#</span>
<span class="c1">#    http://www.apache.org/licenses/LICENSE-2.0</span>
<span class="c1">#</span>
<span class="c1"># Unless required by applicable law or agreed to in writing, software</span>
<span class="c1"># distributed under the License is distributed on an &quot;AS IS&quot; BASIS,</span>
<span class="c1"># WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.</span>
<span class="c1"># See the License for the specific language governing permissions and</span>
<span class="c1"># limitations under the License.</span>

<span class="kn">from</span> <span class="nn">threading</span> <span class="kn">import</span> <span class="n">Event</span><span class="p">,</span> <span class="n">Thread</span><span class="p">,</span> <span class="n">Lock</span>
<span class="kn">from</span> <span class="nn">.</span> <span class="kn">import</span> <span class="n">accurate_time</span> <span class="k">as</span> <span class="n">time</span>

<div class="viewcode-block" id="ThreadingPython"><a class="viewcode-back" href="../../../CBD.realtime.threadingPython.html#CBD.realtime.threadingPython.ThreadingPython">[docs]</a><span class="k">class</span> <span class="nc">ThreadingPython</span><span class="p">(</span><span class="nb">object</span><span class="p">):</span>
    <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">    Simple Python threads subsystem</span>
<span class="sd">    &quot;&quot;&quot;</span>
    <span class="k">def</span> <span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">        Constructor</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">evt</span> <span class="o">=</span> <span class="n">Event</span><span class="p">()</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">evt_lock</span> <span class="o">=</span> <span class="n">Lock</span><span class="p">()</span>

<div class="viewcode-block" id="ThreadingPython.wait"><a class="viewcode-back" href="../../../CBD.realtime.threadingPython.html#CBD.realtime.threadingPython.ThreadingPython.wait">[docs]</a>    <span class="k">def</span> <span class="nf">wait</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">delay</span><span class="p">,</span> <span class="n">func</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">        Wait for the specified time, or faster if interrupted</span>

<span class="sd">        :param delay: time to wait</span>
<span class="sd">        :param func: the function to call</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="c1">#NOTE this call has a granularity of 5ms in Python &lt;= 2.7.x in the worst case, so beware!</span>
        <span class="c1">#     the granularity seems to be much better in Python &gt;= 3.x</span>
        <span class="n">p</span> <span class="o">=</span> <span class="n">Thread</span><span class="p">(</span><span class="n">target</span><span class="o">=</span><span class="n">ThreadingPython</span><span class="o">.</span><span class="n">callFunc</span><span class="p">,</span> <span class="n">args</span><span class="o">=</span><span class="p">[</span><span class="bp">self</span><span class="p">,</span> <span class="n">delay</span><span class="p">,</span> <span class="n">func</span><span class="p">])</span>
        <span class="n">p</span><span class="o">.</span><span class="n">daemon</span> <span class="o">=</span> <span class="kc">True</span>
        <span class="n">p</span><span class="o">.</span><span class="n">start</span><span class="p">()</span></div>

<div class="viewcode-block" id="ThreadingPython.interrupt"><a class="viewcode-back" href="../../../CBD.realtime.threadingPython.html#CBD.realtime.threadingPython.ThreadingPython.interrupt">[docs]</a>    <span class="k">def</span> <span class="nf">interrupt</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">        Interrupt the waiting thread</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="bp">self</span><span class="o">.</span><span class="n">evt</span><span class="o">.</span><span class="n">set</span><span class="p">()</span></div>

<div class="viewcode-block" id="ThreadingPython.callFunc"><a class="viewcode-back" href="../../../CBD.realtime.threadingPython.html#CBD.realtime.threadingPython.ThreadingPython.callFunc">[docs]</a>    <span class="k">def</span> <span class="nf">callFunc</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">delay</span><span class="p">,</span> <span class="n">func</span><span class="p">):</span>
        <span class="sd">&quot;&quot;&quot;</span>
<span class="sd">        Function to call on a seperate thread: will block for the</span>
<span class="sd">        specified time and call the function afterwards</span>

<span class="sd">        Args:</span>
<span class="sd">            delay (float):  The wait delay.</span>
<span class="sd">            func:           The function to call. No arguments can be</span>
<span class="sd">                            used and no return values are needed.</span>
<span class="sd">        &quot;&quot;&quot;</span>
        <span class="k">with</span> <span class="bp">self</span><span class="o">.</span><span class="n">evt_lock</span><span class="p">:</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">evt</span><span class="o">.</span><span class="n">wait</span><span class="p">(</span><span class="n">delay</span><span class="p">)</span>
            <span class="n">func</span><span class="p">()</span>
            <span class="bp">self</span><span class="o">.</span><span class="n">evt</span><span class="o">.</span><span class="n">clear</span><span class="p">()</span></div></div>
</pre></div>

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