TimeStamp.h
Go to the documentation of this file.00001 /**************************************************************** 00002 * 00003 * Copyright (c) 2010 00004 * 00005 * Fraunhofer Institute for Manufacturing Engineering 00006 * and Automation (IPA) 00007 * 00008 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00009 * 00010 * Project name: care-o-bot 00011 * ROS stack name: cob3_common 00012 * ROS package name: generic_can 00013 * Description: 00014 * 00015 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00016 * 00017 * Author: Christian Connette, email:christian.connette@ipa.fhg.de 00018 * Supervised by: Christian Connette, email:christian.connette@ipa.fhg.de 00019 * 00020 * Date of creation: Feb 2009 00021 * ToDo: Check if this is still neccessary. Can we use the ROS-Infrastructure within the implementation? 00022 * 00023 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00024 * 00025 * Redistribution and use in source and binary forms, with or without 00026 * modification, are permitted provided that the following conditions are met: 00027 * 00028 * * Redistributions of source code must retain the above copyright 00029 * notice, this list of conditions and the following disclaimer. 00030 * * Redistributions in binary form must reproduce the above copyright 00031 * notice, this list of conditions and the following disclaimer in the 00032 * documentation and/or other materials provided with the distribution. 00033 * * Neither the name of the Fraunhofer Institute for Manufacturing 00034 * Engineering and Automation (IPA) nor the names of its 00035 * contributors may be used to endorse or promote products derived from 00036 * this software without specific prior written permission. 00037 * 00038 * This program is free software: you can redistribute it and/or modify 00039 * it under the terms of the GNU Lesser General Public License LGPL as 00040 * published by the Free Software Foundation, either version 3 of the 00041 * License, or (at your option) any later version. 00042 * 00043 * This program is distributed in the hope that it will be useful, 00044 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00045 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00046 * GNU Lesser General Public License LGPL for more details. 00047 * 00048 * You should have received a copy of the GNU Lesser General Public 00049 * License LGPL along with this program. 00050 * If not, see <http://www.gnu.org/licenses/>. 00051 * 00052 ****************************************************************/ 00053 00054 #ifndef _TimeStamp_H 00055 #define _TimeStamp_H 00056 00057 #include <time.h> 00058 #include <cob_utilities/StrUtil.h> 00059 00060 //------------------------------------------------------------------- 00061 00067 class TimeStamp 00068 { 00069 public: 00071 TimeStamp(); 00072 00074 virtual ~TimeStamp() {}; 00075 00077 void SetNow(); 00078 00080 double operator- ( const TimeStamp& EarlierTime ) const; 00081 00083 00085 void operator+= ( double TimeS ); 00086 00088 00090 void operator-= ( double TimeS ); 00091 00093 bool operator> ( const TimeStamp& Time ); 00094 00096 bool operator< ( const TimeStamp& Time ); 00097 00101 void getTimeStamp ( long& lSeconds, long& lNanoSeconds ); 00102 00106 void setTimeStamp ( const long& lSeconds, const long& lNanoSeconds ); 00107 00112 std::string CurrentToString(); 00113 00114 std::string ToString(); 00115 00116 protected: 00117 00119 timespec m_TimeStamp; 00120 00121 private: 00122 00124 static double TimespecToDouble ( const ::timespec& LargeInt ); 00125 00127 static ::timespec DoubleToTimespec ( double TimeS ); 00128 00129 }; 00130 00131 00132 #endif 00133