How to use us.ihmc.util

@Override
public PeriodicThreadScheduler createPeriodicThreadScheduler(String name)
{
 return new PeriodicNonRealtimeThreadScheduler(name);
}

/**
* Make all objects set using @see{next} since last commit visible to the consumer 
* 
*/
public void commit()
{
 // Set the commitPosition to writePosition. Writing to commitPosition inserts a memory write barrier
 
 commitPosition.set(writePosition);
}

@Override
public void closeAndDispose()
{
 if (scheduler != null)
   scheduler.shutdown();
}

private void initialize(String rosNameSpace)
{
 rosMainNode.attachPublisher(rosNameSpace + "/output/high_level_state", statePublisher);
 scheduler.schedule(this, 1, TimeUnit.MILLISECONDS);
}

public void stop()
{
 scheduler.shutdown();
 try
 {
   scheduler.awaitTermination(1, TimeUnit.SECONDS);
 }
 catch (InterruptedException e)
 {
 }
}

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

@Override
public PeriodicThreadScheduler createPeriodicThreadScheduler(String name)
{
 return new PeriodicRealtimeThreadScheduler(name, priority);
}

public ChangeListenerLongBuffer(int capacity)
{
 capacity = RealtimeTools.nextDivisibleBySixteen(capacity);
 
 valueChanged = new boolean[capacity];
 values = new long[capacity];
}

/**
* Get latest data from producer. Run before a sequence of @see{read}
* 
* @return true if there is new data available
*/
public boolean poll()
{
 // Reading from commitPosition inserts a memory read barrier, making sure that this thread's caches are coherent
 readLimit = commitPosition.get();
 
 if(readPosition < readLimit)
 {
   return true;
 }
 else
 {
   return false;
 }
}

public FullStateBuffer(int variableOffset, List<YoVariable<?>> variables, List<JointHolder> jointHolders)
{
 super(variableOffset, variables);
 this.numberOfJointStates = getNumberOfJointStates(jointHolders);
 this.jointStates = new double[RealtimeTools.nextDivisibleByEight(this.numberOfJointStates)];
 this.jointHolders = jointHolders;
}

private void initialize(String rosNameSpace)
{
 rosMainNode.attachPublisher(rosNameSpace + "/output/high_level_state", statePublisher);
 scheduler.schedule(this, 1, TimeUnit.MILLISECONDS);
}

  public void stop()
  {
   scheduler.shutdown();
  }
}

@Override
public PeriodicThreadScheduler createPeriodicThreadScheduler(String name)
{
 return new PeriodicNonRealtimeThreadScheduler(name);
}

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

@Override
public PeriodicThreadScheduler createPeriodicThreadScheduler(String name)
{
 return new PeriodicRealtimeThreadScheduler(name, priority);
}

/**
* Flushes read objects, making them available for writing. Call after @see{read}
*/
public void flush()
{
 consumerPosition.set(readPosition);
}

public ChangeListenerLongBuffer(int capacity)
{
 capacity = RealtimeTools.nextDivisibleBySixteen(capacity);
 
 valueChanged = new boolean[capacity];
 values = new long[capacity];
}

  public void close()
  {
   scheduler.shutdown();
   server.close();
   
  }
}

/**
* Make all objects set using @see{next} since last commit visible to the consumer 
* 
*/
public void commit()
{
 // Set the commitPosition to writePosition. Writing to commitPosition inserts a memory write barrier
 
 commitPosition.set(writePosition);
}

/**
* Flushes read objects, making them available for writing. Call after @see{read}
*/
public void flush()
{
 consumerPosition.set(readPosition);
}