InlineFunctions.h
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00001 
00002 /******************************************************************************
00003  * 
00004  * Copyright (c) 2012 
00005  * 
00006  * SCHUNK GmbH & Co. KG
00007  *  
00008  * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
00009  * 
00010  * Project name: Drivers for "Amtec M5 Protocol" Electronics V4
00011  *                                                                        
00012  * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
00013  * 
00014  * Email:robotics@schunk.com
00015  * 
00016  * ToDo: 
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00018  * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
00019  * 
00020  * Redistribution and use in source and binary forms, with or without 
00021  * modification, are permitted provided that the following conditions are met: 
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00023  *  * Redistributions of source code must retain the above copyright 
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00032  * This program is free software: you can redistribute it and/or modify 
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00046  ******************************************************************************/
00047 
00048 
00049 #ifndef UTIL_INLINEFUNCTIONS_H
00050 #define UTIL_INLINEFUNCTIONS_H
00051 
00052 #include "../Util/GlobalDefines.h"
00053 
00054 #ifndef _WIN32
00055 #include <unistd.h>
00056 #endif
00057 
00058 #include <time.h>
00059 #include <limits.h>
00060 
00061 #if defined (_WIN32)
00062 #include <sys/timeb.h>
00063 #include <windows.h>
00064 #include <process.h>
00065 #endif
00066 #ifdef __QNX__
00067 #include <sys/time.h>
00068 #include <time.h>
00069 #include <sys/timeb.h>
00070 #include <unistd.h>
00071 #include <semaphore.h>
00072 #include <signal.h>
00073 #include <i86.h>
00074 #include <process.h>
00075 #define TRACE printf
00076 #define CRITICAL_SECTION int
00077 #endif
00078 
00079 #ifdef __LINUX__
00080 #include <sys/time.h>
00081 //#include <linux/delay.h>
00082 #include <pthread.h>
00083 #define TRACE printf
00084 #define CRITICAL_SECTION pthread_mutex_t
00085 #endif
00086 #include "../Util/Math.h"
00087 
00088 //  returns the squared fValue
00089 template <class T> inline T sqr(T fValue)     
00090 { 
00091         return fValue*fValue; 
00092 };
00093 
00094 // returns the rounded integer fValue
00095 template <class T> inline int iRound(T v)      
00096 {
00097         return (v>=0) ? (int)(v+.5) : (int)(v-.5);
00098 };
00099 
00100 // returns the minimum of fValue a and fValue b 
00101 template <class T> inline T util_min(T a, T b)    
00102 { 
00103         return (a<b) ? a : b; 
00104 };
00105 
00106 // returns the maximum of fValue a and fValue b 
00107 template <class T> inline T util_max(T a, T b)    
00108 { 
00109         return (a>b) ? a : b; 
00110 };
00111 
00112 #ifndef NO_ABS_FCT
00113 
00114 // returns the absolute fValue
00115 inline long abs(long iValue) 
00116 { 
00117 #if defined(NO_CAST_FUNCTION_TEMPLATES)
00118         return long(abs(iValue));
00119 #else
00120         return static_cast<long>(abs(iValue));
00121 #endif
00122 };
00123 
00124 // returns the absolute uiValue
00125 inline unsigned long abs(unsigned long uiValue) 
00126 { 
00127 #if defined(NO_CAST_FUNCTION_TEMPLATES)
00128         return unsigned long(abs(uiValue));
00129 #else
00130         return static_cast<unsigned long>(abs(uiValue));
00131 #endif
00132 };
00133 
00134 // returns the absolute fValue 
00135 inline float abs(float fValue) 
00136 { 
00137 #if defined(NO_CAST_FUNCTION_TEMPLATES)
00138         return float(fabs(fValue));
00139 #else
00140         return static_cast<float>(fabs(fValue));
00141 #endif
00142 };
00143 
00144 // returns the absolute fValue
00145 inline double abs(double fValue) 
00146 { 
00147         return fabs(fValue);
00148 };
00149 
00150 #endif
00151 
00152 // returns fValue a with the sign of fValue b 
00153 inline float util_sign(float a, float b) 
00154 { 
00155         return ((b) >= 0.0) ? fabs(a) : -fabs(a); 
00156 };
00157 
00158 // returns fValue a with the sign of fValue b 
00159 inline double util_sign(double a, double b) 
00160 { 
00161         return ((b) >= 0.0) ? fabs(a) : -fabs(a); 
00162 };
00163 
00164 template <class T> inline void util_shift(T a, T b, T c, T d)
00165 {
00166         (a)=(b);
00167         (b)=(c);
00168         (c)=(d);
00169 }
00170 
00171 // converts degrees to radians 
00172 inline double util_degToRad(double fAngle)
00173 { 
00174         return fAngle * M_PI / 180.0; 
00175 };
00176 
00177 // converts radians to degrees 
00178 inline double util_radToDeg(double fAngle)
00179 { 
00180         return fAngle * 180.0 / M_PI; 
00181 };
00182 
00183 // fits fPhase into the interval [0,2 \pi[
00184 inline double util_adjustedPhase(double fPhase) 
00185 {
00186         return fPhase - (2*M_PI)*floor(fPhase*M_1_2PI);
00187 }
00188 
00189 // computes fPhase1 - fPhase2 as a fValue of [-pi,pi[
00190 inline double util_phaseDifference(double fPhase1, double fPhase2) 
00191 {
00192         return util_adjustedPhase(fPhase1 - fPhase2 + M_PI) - M_PI;
00193 }
00194 
00195 // computes the average of fPhase1 and fPhase2 as a fValue of [0, 2pi[
00196 inline double util_averagedPhase(double fPhase1, double fPhase2) 
00197 {
00198         return util_adjustedPhase(fPhase1 + (util_phaseDifference(fPhase2,fPhase1)*0.5));
00199 }
00200 
00201 // exhanges the contents of two variables
00202 template <class Type>
00203 inline void util_swap(Type& a, Type& b) 
00204 {
00205         Type swappy = a;
00206         a = b; b = swappy;
00207 }
00208 
00209 #if defined _WIN32
00210 
00211 #ifndef __HAS_SLEEP__
00212 #define __HAS_SLEEP__
00213 
00214 // encapsulates the Win32 version of sleep called Sleep
00215 inline void sleep(unsigned int uiSec)
00216 {
00217 #if defined(NO_CAST_FUNCTION_TEMPLATES)
00218         Sleep(DWORD(uiSec*1000));
00219 #else
00220         Sleep(static_cast<DWORD> (uiSec*1000));
00221 #endif
00222 }
00223 #endif
00224 #endif
00225 
00226 #if defined (__LINUX__)
00227 inline int EnterCriticalSection(CRITICAL_SECTION *cs)
00228 {
00229         pthread_mutex_lock(cs);
00230         return 0;
00231 }
00232 
00233 inline int LeaveCriticalSection(CRITICAL_SECTION *cs)
00234 {
00235         pthread_mutex_unlock(cs);
00236         return 0;
00237 }
00238 
00239 inline int InitializeCriticalSection(CRITICAL_SECTION *cs)
00240 {
00241         pthread_mutex_init(cs,NULL);
00242         pthread_mutex_unlock(cs);
00243         return 0;
00244 }
00245 
00246 inline int DeleteCriticalSection(CRITICAL_SECTION *cs)
00247 {
00248 //      pthread_mutex_exit(cs);
00249         return 0;
00250 }
00251 
00252 inline int Sleep(long iMilliSec)
00253 {
00254     timespec tm, tm2;
00255 
00256         tm.tv_sec=iMilliSec/1000;
00257         tm.tv_nsec=(iMilliSec%1000)*1000000;
00258         
00259         nanosleep(&tm,&tm2);
00260         return 0;
00261 }
00262 #endif
00263 
00264 #if defined (__QNX__)
00265 inline int EnterCriticalSection(CRITICAL_SECTION *cs)
00266 {
00267         sem_wait( (sem_t *)cs );
00268         return 0;
00269 }
00270 inline int LeaveCriticalSection(CRITICAL_SECTION *cs)
00271 {
00272         sem_post( (sem_t *)cs );
00273         return 0;
00274 }
00275 inline int InitializeCriticalSection(CRITICAL_SECTION *cs)
00276 {
00277         sem_init( (sem_t*)cs, 1, 1 );
00278         return 0;
00279 }
00280 
00281 inline int DeleteCriticalSection(CRITICAL_SECTION *cs)
00282 {
00283 //      sem_exit((sem_t*) cs);
00284         sem_destroy( (sem_t*)cs );
00285         return 0;
00286 }
00287 
00288 inline int Sleep(long iMilliSec)
00289 {
00290         delay(iMilliSec);
00291         return 0;
00292 }
00293 #endif
00294 
00295 // -------------------------------------------------------------------------- ;
00296 
00297 // sets the alarm clock to the specified number of uiSec. 
00298 /*
00299         sets the alarm clock to the specified number of uiSec.
00300           NOTE for UNIX-systems: see the manual pages for alarm(2)
00301           NOTE for WIN32-systems: does nothing! (just returns 0).
00302         uiSec: number of uiSec
00303         the amount of time  previously remaining in the alarm clock.
00304 */
00305 inline unsigned int util_setAlarm(unsigned int uiSec)
00306 {
00307 #ifdef _WIN32
00308 // there does not exist any alarm function for WIN32!
00309         return 0;
00310 #else
00311         return alarm(uiSec);
00312 #endif
00313 };
00314 
00315 // -------------------------------------------------------------------------- ;
00316 
00317 // cancels any previously made alarm request.
00318 /*
00319         cancels any previously made alarm request.
00320           NOTE for UNIX-systems: see the manual pages for alarm(2)
00321           NOTE for WIN32-systems: does nothing! (just returns 0).
00322         the amount of time  previously remaining in the alarm clock.
00323 */
00324 inline unsigned int util_deactivateAlarm()
00325 {
00326 #ifdef _WIN32
00327 // there does not exist any alarm function for WIN32!
00328         return 0;
00329 #else
00330         return alarm(0);   // if number of uiSec is equal 0, any previously
00331                                            // made alarm request is canceled
00332 #endif
00333 };
00334 
00335 #endif // UTIL_INLINEFUNCTIONS_H
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schunk_libm5api
Author(s): Florian Weisshardt
autogenerated on Tue Mar 5 2013 14:44:33