timer.cpp
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00001 /*
00002  *  RPLIDAR SDK
00003  *
00004  *  Copyright (c) 2009 - 2014 RoboPeak Team
00005  *  http://www.robopeak.com
00006  *  Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
00007  *  http://www.slamtec.com
00008  *
00009  */
00010 /*
00011  * Redistribution and use in source and binary forms, with or without
00012  * modification, are permitted provided that the following conditions are met:
00013  *
00014  * 1. Redistributions of source code must retain the above copyright notice,
00015  *    this list of conditions and the following disclaimer.
00016  *
00017  * 2. Redistributions in binary form must reproduce the above copyright notice,
00018  *    this list of conditions and the following disclaimer in the documentation
00019  *    and/or other materials provided with the distribution.
00020  *
00021  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00022  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
00023  * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
00024  * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
00025  * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
00026  * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
00027  * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
00028  * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
00029  * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
00030  * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
00031  * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00032  *
00033  */
00034 
00035 #include "sdkcommon.h"
00036 #include <mmsystem.h>
00037 #pragma comment(lib, "Winmm.lib")
00038 
00039 namespace rp{ namespace arch{
00040 
00041 static LARGE_INTEGER _current_freq;
00042 
00043 void HPtimer_reset()
00044 {
00045     BOOL ans=QueryPerformanceFrequency(&_current_freq);
00046     _current_freq.QuadPart/=1000;
00047 }
00048 
00049 _u32 getHDTimer()
00050 {
00051     LARGE_INTEGER current;
00052     QueryPerformanceCounter(&current);
00053 
00054     return (_u32)(current.QuadPart/_current_freq.QuadPart);
00055 }
00056 
00057 BEGIN_STATIC_CODE(timer_cailb)
00058 {
00059     HPtimer_reset();
00060 }END_STATIC_CODE(timer_cailb)
00061 
00062 }}


rplidar_ros
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autogenerated on Fri Dec 16 2016 03:59:16