Thread Programming Demo

test.cpp

#include <iostream>
#include <iomanip>
#include <thread>
#include <chrono>

bool flag = true;
int force_data = 0;

void force_sensor()
{
    int i = 0;
    // Sensor sampling time = 20 ms
    while(flag)
    {
        force_data = i;
        std::this_thread::sleep_for(std::chrono::milliseconds(20)); // Sleep for 20 ms
        ++i;
    }
    std::cout << "t1: force sensor end." << std::endl;

}

int main(int arc, char *argv[])
{
    std::thread t1(force_sensor);          // Launch force_sensor_thread
    // Read force sensor
    int j = 0;
    // Motor sampling time = 1 ms
    while (j < 1000)
    {
        std::cout << "["  << std::setw(4) << std::right << j << "] " << "Force_data = " << force_data << std::endl;
        std::this_thread::sleep_for(std::chrono::milliseconds(1)); // Sleep for 1 ms
        ++j;
    }
    flag = false;
    std::cout << "Main: call force_sensor to stop." << std::endl;
    
    t1.join(); // pause for t1 to end
    std::cout << "Main: end." << std::endl;
    return 0;
}

Compile

$ g++ -pthread -o test test.cpp

OS: Linux Ubuntu 20.0.4 LTS
compiler: GNU g++