가감속

example.cpp

std::shared_ptr<boost::asio::deadline_timer> m_motorTimer;
FromToWithDuration2<float> fromLeft(현재값, 목표값, 1000); 

auto self = shared_from_this();
m_motorTimer = createSchedule(m_ioService, 100, [this, self, 목표값, 증감값(=맥스출력/10)]()->bool{
    bool res = fromLeft.stepValue(증감값);
    if(res == false)
        return res; 
    m_leftMotorValue = fromLeft.getValue();
    모터돌리기(
        m_leftMotorValue);
    return true; 
});



                    

scheduler.cpp

#include "scheduler.h"
#include <iostream>
#include <boost/asio.hpp>


using namespace boost;


void scheduler(std::shared_ptr<asio::deadline_timer> t, std::function<bool()> task, long delta) {
    t->expires_from_now(posix_time::milliseconds(delta));
    t->async_wait([t, task, delta](const boost::system::error_code& error) { 
        if (!error)
        {
            auto res = task();
            if(res) {
                scheduler(t, task, delta);
            }
        }
    });
}
               
std::shared_ptr<asio::deadline_timer> createSchedule(asio::io_service& ios, long delta, std::function<bool()> task) { 
    auto res = task();
    auto t = std::make_shared<asio::deadline_timer>(ios); 
    if(res) {
        scheduler(t, task, delta);
    }
    return t;
}


std::shared_ptr<asio::deadline_timer> createDelay(asio::io_service& ios, long delta, std::function<void()> task) {
    auto t = std::make_shared<asio::deadline_timer>(ios); 
    t->expires_from_now(posix_time::milliseconds(delta));
    t->async_wait([t, task, delta](const boost::system::error_code& error) { 
        if (!error)
        {
            task();
        }
    });
    return t;
}

scheduler.h

#pragma once
#include <iostream>
#include <boost/asio.hpp>

using namespace boost; 

void scheduler(std::shared_ptr<asio::deadline_timer> t, std::function<bool()> task, long delta); 
std::shared_ptr<asio::deadline_timer> createSchedule(asio::io_service& ios, long delta, std::function<bool()> task);
std::shared_ptr<asio::deadline_timer> createDelay(asio::io_service& ios, long delta, std::function<void()> task);