Replace RateThread with PeriodicThread for YARP 3.8 compatibility (#33)

robotology · Jun 1, 2022 · 585fa2a · 585fa2a
1 parent 9214833
commit 585fa2a
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -6,7 +6,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ## [Unreleased]
 
 ### Fixed
-- Remove use of deprecated YARP header to ensure compatibility with YARP 3.8 (https://github.com/robotology/idyntree-yarp-tools/pull/32).
+- Remove use of deprecated YARP headers and classes to ensure compatibility with YARP 3.8 (https://github.com/robotology/idyntree-yarp-tools/pull/32, https://github.com/robotology/idyntree-yarp-tools/pull/33).
 
 ## [0.0.5] - 2022-05-27
 

diff --git a/src/modules/idyntree-sole-gui/plugin/ObserverThread.cpp b/src/modules/idyntree-sole-gui/plugin/ObserverThread.cpp
@@ -64,9 +64,9 @@ bool getVectorOfStringFromProperty(yarp::os::Property& prop, std::string key, st
     return true;
 }
 
-ObserverThread::ObserverThread(yarp::os::ResourceFinder& config, int period) : RateThread(period)
+ObserverThread::ObserverThread(yarp::os::ResourceFinder& config, int period) : PeriodicThread((double)period/1000.0)
 {
-    yDebug("ObserverThread running at %g ms.", getRate());
+    yDebug("ObserverThread running at %g s.", getPeriod());
 
     bool ok = this->init(config);
     assert(ok);
@@ -228,7 +228,7 @@ bool ObserverThread::init(yarp::os::ResourceFinder& config)
         initIMUFilter.resize(3, 0.0);
         initIMUFilter[2] = -9.81;
 
-        filtIMUGravity = new iCub::ctrl::FirstOrderLowPassFilter(6.0, this->getRate()/1000.0, initIMUFilter);
+        filtIMUGravity = new iCub::ctrl::FirstOrderLowPassFilter(6.0, this->getPeriod(), initIMUFilter);
     }
 
     return true;

diff --git a/src/modules/idyntree-sole-gui/plugin/include/ObserverThread.h b/src/modules/idyntree-sole-gui/plugin/include/ObserverThread.h
@@ -14,7 +14,7 @@
 #include <vector>
 
 #include <yarp/os/ResourceFinder.h>
-#include <yarp/os/RateThread.h>
+#include <yarp/os/PeriodicThread.h>
 #include <yarp/os/Log.h>
 
 #include <yarp/dev/IAnalogSensor.h>
@@ -33,7 +33,7 @@ using namespace yarp::dev;
 
 class QPainter;
 
-class ObserverThread : public yarp::os::RateThread
+class ObserverThread : public yarp::os::PeriodicThread
 {
 protected:
     // Attribute to read encoders position