Timer.h

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/*
 *   Katana Native Interface - A C++ interface to the robot arm Katana.
 *   Copyright (C) 2005 Neuronics AG
 *   Check out the AUTHORS file for detailed contact information.
 *
 *   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 2 of the License, or
 *   (at your option) any later version.
 *
 *   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, write to the Free Software
 *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

#ifndef KNITIMER_H
#define KNITIMER_H

#include <ctime>

#ifndef WIN32 // POSIX 1b
#include <sys/time.h>
#endif

namespace KNI {

    void sleep(long time);

    class Timer {
    private:
        long _timeout;
        
#ifdef WIN32
        clock_t _ct;
#else
        struct timeval _ct;
#endif

        long _ElapsedTime() const;

    public:
        Timer();
        Timer(long timeout);

        void Set(long timeout);
        void Start();

        void Set_And_Start(long timeout);
        
        bool Elapsed() const;

        long ElapsedTime() const;

        void WaitUntilElapsed() const;

    };



}

#endif