Made simple example simpler

examples/simple_example/main.cc

@@ -7,38 +7,33 @@ using cactus_rt::App;
 using cactus_rt::CyclicThread;
 
 /**
- * This is a no-op thread that does nothing at 1 kHz.
+ * This is a thread that loops at 1 kHz.
  */
 class ExampleRTThread : public CyclicThread {
-  int64_t loop_counter_ = 0;
+  static cactus_rt::CyclicThreadConfig MakeConfig() {
+    cactus_rt::CyclicThreadConfig config;
+    config.period_ns = 1'000'000;
+    config.cpu_affinity = std::vector<size_t>{2};
+    config.SetFifoScheduler(80);
+    return config;
+  }
 
  public:
-  ExampleRTThread(const char* name, cactus_rt::CyclicThreadConfig config) : CyclicThread(name, config) {}
-
-  int64_t GetLoopCounter() const {
-    return loop_counter_;
-  }
+  ExampleRTThread() : CyclicThread("ExampleRTThread", MakeConfig()) {}
 
  protected:
-  bool Loop(int64_t /*now*/) noexcept final {
-    loop_counter_++;
-    if (loop_counter_ % 1000 == 0) {
-      LOG_INFO(Logger(), "Loop {}", loop_counter_);
-    }
+  bool Loop(int64_t elapsed_ns) noexcept final {
+    // Write your code here that requires 1 kHz.
+
+    LOG_INFO_LIMIT(std::chrono::seconds(1), Logger(), "Looping for {}", std::chrono::nanoseconds(elapsed_ns));
     return false;
   }
 };
 
 int main() {
-  cactus_rt::CyclicThreadConfig config;
-  config.period_ns = 1'000'000;
-  config.cpu_affinity = std::vector<size_t>{2};
-  config.SetFifoScheduler(80);
-
-  auto thread = std::make_shared<ExampleRTThread>("ExampleRTThread", config);
+  auto thread = std::make_shared<ExampleRTThread>();
 
   App app;
-  app.StartTraceSession("build/data.perfetto");
   app.RegisterThread(thread);
 
   constexpr unsigned int time = 5;
@@ -49,6 +44,7 @@ int main() {
   app.RequestStop();
   app.Join();
 
-  std::cout << "Number of loops executed: " << thread->GetLoopCounter() << "\n";
+  std::cout << "Done\n";
+
   return 0;
 }