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unitree_SDK/include/unitree/common/thread/recurrent_thread.hpp

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+#ifndef __UT_RECURRENT_THREAD_HPP__
+#define __UT_RECURRENT_THREAD_HPP__
+
+#include <unitree/common/thread/thread.hpp>
+
+#define UT_THREAD_TIME_INTERVAL_MICROSEC 1000000
+
+namespace unitree
+{
+namespace common
+{
+class RecurrentThread : public Thread
+{
+public:
+    __UT_THREAD_DECL_TMPL_FUNC_ARG__
+    explicit RecurrentThread(uint64_t intervalMicrosec, __UT_THREAD_TMPL_FUNC_ARG__)
+        : mQuit(false), mIntervalMicrosec(intervalMicrosec)
+    {
+        //recurrent function
+        mFunc = std::bind(__UT_THREAD_BIND_FUNC_ARG__);
+
+        //Call Thread::Run for runing thread
+        if (mIntervalMicrosec == 0)
+        {
+            Run(&RecurrentThread::ThreadFunc_0, this);
+        }
+        else
+        {
+            Run(&RecurrentThread::ThreadFunc, this);
+        }
+    }
+
+    __UT_THREAD_DECL_TMPL_FUNC_ARG__
+    explicit RecurrentThread(const std::string& name, int32_t cpuId, uint64_t intervalMicrosec,
+        __UT_THREAD_TMPL_FUNC_ARG__)
+        : Thread(name, cpuId), mQuit(false), mIntervalMicrosec(intervalMicrosec)
+    {
+        //recurrent function
+        mFunc = std::bind(__UT_THREAD_BIND_FUNC_ARG__);
+
+        //Call Thread::Run for runing thread
+        if (mIntervalMicrosec == 0)
+        {
+            Run(&RecurrentThread::ThreadFunc_0, this);
+        }
+        else
+        {
+            Run(&RecurrentThread::ThreadFunc, this);
+        }
+    }
+
+    virtual ~RecurrentThread();
+
+    int32_t ThreadFunc();
+    int32_t ThreadFunc_0();
+
+    bool Wait(int64_t microsec = 0);
+
+private:
+    volatile bool mQuit;
+    uint64_t mIntervalMicrosec;
+    std::function<void()> mFunc;
+};
+
+typedef std::shared_ptr<RecurrentThread> RecurrentThreadPtr;
+
+__UT_THREAD_DECL_TMPL_FUNC_ARG__
+ThreadPtr CreateRecurrentThread(uint64_t intervalMicrosec, __UT_THREAD_TMPL_FUNC_ARG__)
+{
+    return ThreadPtr(new RecurrentThread(intervalMicrosec, __UT_THREAD_BIND_FUNC_ARG__));
+}
+
+__UT_THREAD_DECL_TMPL_FUNC_ARG__
+ThreadPtr CreateRecurrentThreadEx(const std::string& name, int32_t cpuId, uint64_t intervalMicrosec,
+    __UT_THREAD_TMPL_FUNC_ARG__)
+{
+    return ThreadPtr(new RecurrentThread(name, cpuId, intervalMicrosec,
+        __UT_THREAD_BIND_FUNC_ARG__));
+}
+
+}
+}
+
+#endif//__UT_RECURRENT_THREAD_HPP__