public void Spin(CancellationToken cancel = default(CancellationToken))
{
Logger.LogInformation("Start spinning");
while (ROS.OK)
{
callbackQueue.CallAvailable(ROS.WallDuration);
if (cancel.IsCancellationRequested)
{
break;
}
Thread.Yield();
}
}
public void Spin(CancellationToken token)
{
TimeSpan wallDuration = new TimeSpan(0, 0, 0, 0, ROS.WallDuration);
Logger.LogInformation("Start spinning");
while (ROS.OK)
{
DateTime begin = DateTime.UtcNow;
callbackQueue.CallAvailable(ROS.WallDuration);
if (token.IsCancellationRequested)
{
break;
}
DateTime end = DateTime.UtcNow;
var remainingTime = wallDuration - (end - begin);
if (remainingTime > TimeSpan.Zero)
{
Thread.Sleep(remainingTime);
}
}
}