How to use

schedule

method

in

us.ihmc.util.PeriodicThreadScheduler

public void start()
{
 scheduler.schedule(variableUpdateThread, 1, TimeUnit.MILLISECONDS);
}

public void start()
{
 scheduler.schedule(runner, 100, TimeUnit.MILLISECONDS);
}

/**
* Start publishing data for this RealtimeRos2Node
* 
* A periodic thread is spawned that will publish all data every millisecond. 
* 
*/
public void spin()
{
 startupLock.lock();
 if (spinning)
 {
   throw new RuntimeException("This RealtimeRos2Node is already spinning");
 }
 spinning = true;
 scheduler.schedule(this::realtimeNodeThread, THREAD_PERIOD_MICROSECONDS, TimeUnit.MICROSECONDS);
 startupLock.unlock();
}

private void startWriterThread()
{
 dataProducer.registerPacketToSkipQueue(RobotConfigurationData.class);
 scheduler.schedule(new Runnable()
 {
   @Override
   public void run()
   {
    try
    {
      if (robotConfigurationDataRingBuffer.poll())
      {
       RobotConfigurationData robotConfigData;
       while ((robotConfigData = robotConfigurationDataRingBuffer.read()) != null)
       {
         dataProducer.skipQueueAndSend(robotConfigData);
       }
       robotConfigurationDataRingBuffer.flush();
      }
    }
    catch(Throwable throwable)
    {
      throwable.printStackTrace();
    }
   }
 }, WORKER_SLEEP_TIME_MILLIS, TimeUnit.MILLISECONDS);
}

public void start()
{
 try
 {
   // Make server here, so it is open before the logger connects
   server = new MultiClientStreamingDataTCPServer(session.getPort(), handshakeBuilder, logModelProvider, compressedBackingArray.length, SEND_BUFFER_LENGTH);
   server.start();
 }
 catch (IOException e)
 {
   throw new RuntimeException(e);
 }
 scheduler.schedule(this, 1, TimeUnit.MILLISECONDS);
}

public void start()
{
 try
 {
   // Make server here, so it is open before the logger connects
   server = new MultiClientStreamingDataTCPServer(session.getPort(), handshakeBuilder, logModelProvider, summaryProvider, compressedBackingArray.length, SEND_BUFFER_LENGTH);
   server.start();
 }
 catch (IOException e)
 {
   throw new RuntimeException(e);
 }
 scheduler.schedule(this, 1, TimeUnit.MILLISECONDS);
}

public ControllerNetworkSubscriber(CommandInputManager controllerCommandInputManager, StatusMessageOutputManager controllerStatusOutputManager,
   PeriodicThreadScheduler scheduler, PacketCommunicator packetCommunicator)
{
 this.controllerCommandInputManager = controllerCommandInputManager;
 this.controllerStatusOutputManager = controllerStatusOutputManager;
 this.scheduler = scheduler;
 this.packetCommunicator = packetCommunicator;
 listOfSupportedStatusMessages = controllerStatusOutputManager.getListOfSupportedMessages();
 if (packetCommunicator == null)
 {
   PrintTools.error(this, "No packet communicator, " + getClass().getSimpleName() + " cannot be created.");
   return;
 }
 listOfSupportedStatusMessages.add(InvalidPacketNotificationPacket.class);
 createAllSubscribersForSupportedMessages();
 createGlobalStatusMessageListener();
 createAllStatusMessageBuffers();
 if (scheduler != null)
   scheduler.schedule(this, 1, TimeUnit.MILLISECONDS);
}

dataProducerParticipant.announce();
timestampScheduler.schedule(timestampPublisher, 100, TimeUnit.MICROSECONDS);