time-stamp.hh

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/*
 * Copyright 2010,
 * François Bleibel,
 * Olivier Stasse,
 *
 * CNRS/AIST
 *
 */

#ifndef __SOT_TIME_STAMP__HH
#define __SOT_TIME_STAMP__HH

/* --------------------------------------------------------------------- */
/* --- INCLUDE --------------------------------------------------------- */
/* --------------------------------------------------------------------- */

/* Matrix */
#include <dynamic-graph/linear-algebra.h>

/* Classes standards. */
#ifndef WIN32
#include <sys/time.h>
#else /*WIN32*/
#include <sot/core/utils-windows.hh>
#endif /*WIN32*/

/* SOT */
#include <dynamic-graph/all-signals.h>
#include <dynamic-graph/entity.h>

#include <sot/core/debug.hh>

/* --------------------------------------------------------------------- */
/* --- API ------------------------------------------------------------- */
/* --------------------------------------------------------------------- */

#if defined(WIN32)
#if defined(time_stamp_EXPORTS)
#define TimeStamp_EXPORT __declspec(dllexport)
#else
#define TimeStamp_EXPORT __declspec(dllimport)
#endif
#else
#define TimeStamp_EXPORT
#endif

/* --------------------------------------------------------------------- */
/* --- CLASS ----------------------------------------------------------- */
/* --------------------------------------------------------------------- */

namespace dynamicgraph {
namespace sot {

class TimeStamp_EXPORT TimeStamp : public dynamicgraph::Entity {
 public:
  static const std::string CLASS_NAME;
  virtual const std::string &getClassName(void) const { return CLASS_NAME; }

 protected:
  struct timeval val;
  unsigned int offsetValue;
  bool offsetSet;

 public:
  /* --- CONSTRUCTION --- */
  TimeStamp(const std::string &name);

 public: /* --- DISPLAY --- */
  virtual void display(std::ostream &os) const;

 public: /* --- SIGNALS --- */
  /* These signals can be called several time per period, given
   * each time a different results. Useful for chronos. */
  dynamicgraph::Signal<dynamicgraph::Vector, int> timeSOUT;
  dynamicgraph::Signal<double, int> timeDoubleSOUT;

  /* These signals can be called several time per period, but give
   * always the same results different results. Useful for synchro. */
  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> timeOnceSOUT;
  dynamicgraph::SignalTimeDependent<double, int> timeOnceDoubleSOUT;

 protected: /* --- SIGNAL FUNCTIONS --- */
  dynamicgraph::Vector &getTimeStamp(dynamicgraph::Vector &res,
                                     const int &time);
  double &getTimeStampDouble(const dynamicgraph::Vector &vect, double &res);
};

} /* namespace sot */
} /* namespace dynamicgraph */

#endif /* #ifndef __SOT_SOT_HH */