/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/utils/utils.cpp

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/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2009:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
                Mobots group, Laboratory of Robotics Systems, EPFL, Lausanne
        
        This program is free software: you can redistribute it and/or modify
        it under the terms of the GNU General Public License as published by
        the Free Software Foundation, either version 3 of the License, or
        any other version as decided by the two original authors
        Stephane Magnenat and Valentin Longchamp.
        
        This program is distributed in the hope that it will be useful,
        but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.
        
        You should have received a copy of the GNU General Public License
        along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#include <cstdlib>
#include <cstring>
#ifndef WIN32
        #include <sys/time.h>
#else // WIN32
        #include <sys/types.h>
        #include <sys/timeb.h>
        #include <windows.h>
        #define atoll _atoi64
#endif // WIN32
#include <time.h>
#include <errno.h>
#include <iomanip>
#include <ostream>
#include <sstream>
#include <cassert>
#include "utils.h"

namespace Aseba
{
        
        UnifiedTime::UnifiedTime()
        {
                #ifndef WIN32
                struct timeval tv;
                gettimeofday(&tv, NULL);
                value = (Value(tv.tv_sec) * 1000) + Value(tv.tv_usec) / 1000;
                #else // WIN32
                struct __timeb64 tv;
                _ftime64_s(&tv);
                value = Value(tv.time) * 1000 + Value(tv.millitm);
                #endif // WIN32
        }
        
        UnifiedTime::UnifiedTime(Value ms) :
                value(ms)
        {
        }
        
        UnifiedTime::UnifiedTime(Value seconds, Value milliseconds) :
                value(seconds * 1000 + milliseconds)
        {
        }
        
        void UnifiedTime::sleep() const
        {
                #ifndef WIN32
                struct timespec ts;
                ts.tv_sec = (value / 1000);
                ts.tv_nsec = ((value % 1000) * 1000000);
                nanosleep(&ts, 0);
                #else // WIN32
                assert(value < (1 << 32));
                Sleep((DWORD)value);
                #endif // WIN32
        }
        
        std::string UnifiedTime::toHumanReadableStringFromEpoch() const
        {
                std::ostringstream oss;
                Value seconds(value / 1000);
                Value milliseconds(value % 1000);
                time_t t(seconds);
                char *timeString = ctime(&t);
                timeString[strlen(timeString) - 1] = 0;
                oss << "[";
                oss << timeString << " ";
                oss << std::setfill('0') << std::setw(3) << milliseconds;
                oss << "]";
                return oss.str();
        }
        
        std::string UnifiedTime::toRawTimeString() const
        {
                std::ostringstream oss;
                Value seconds(value / 1000);
                Value milliseconds(value % 1000);
                oss << std::dec << seconds << "." << std::setfill('0') << std::setw(3) << milliseconds;
                return oss.str();
        }
        
        UnifiedTime UnifiedTime::fromRawTimeString(const std::string& rawTimeString)
        {
                size_t dotPos(rawTimeString.find('.'));
                assert(dotPos != std::string::npos);
                return UnifiedTime(atoll(rawTimeString.substr(0, dotPos).c_str()), atoll(rawTimeString.substr(dotPos + 1, std::string::npos).c_str()));
        }
        
        
        void dumpTime(std::ostream &stream, bool raw)
        {
                if (raw)
                        stream << UnifiedTime().toRawTimeString();
                else
                        stream << UnifiedTime().toHumanReadableStringFromEpoch();
                stream << " ";
        }
        
}

---

asebaros
Author(s): $author
autogenerated on Mon Sep 5 08:41:53 2011