Timer.cpp

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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
 */

#include "common/Timer.h"

#ifdef WIN32
#include <Windows.h>
#endif

namespace KNI {

    void
    Timer::Set(long timeout) {
        _timeout = timeout;
    }
    
#ifdef WIN32
    void Timer::Start() {
        _ct = clock();
    }

    long Timer::_ElapsedTime() const {
        return static_cast<long>(1000.0*(static_cast<double>((clock()-_ct))/static_cast<double>(CLOCKS_PER_SEC)));
    }

    Timer::Timer() : _timeout(0), _ct(0) {}
    Timer::Timer(long timeout) : _timeout(timeout), _ct(0) {}

#else

    Timer::Timer() : _timeout(0), _ct() {}
    Timer::Timer(long timeout) : _timeout(timeout), _ct() {}

    void Timer::Start() {
        gettimeofday(&_ct, 0);
    }

    long Timer::_ElapsedTime() const {
        struct timeval end;
        gettimeofday(&end, 0);
        return (end.tv_sec*1000+end.tv_usec/1000) - (_ct.tv_sec*1000+_ct.tv_usec/1000);
    }

#endif

    void 
    Timer::Set_And_Start(long timeout) {
        Set(timeout); 
        Start(); 
    }

    bool Timer::Elapsed() const {
        if( _timeout <= 0 ) return false; // (timeout <= 0) => INFINITE
        if( _ElapsedTime() < _timeout) return false;
        return true;
    }
    long Timer::ElapsedTime() const {
        return _ElapsedTime();
    }

    void Timer::WaitUntilElapsed() const {
        if(Elapsed()) return;
        sleep(_timeout - _ElapsedTime());
    }

    void sleep(long time) {
        if(time <= 0) return; 
    #ifdef WIN32
        Sleep(time);
    #else // POSIX 1b
        timespec time2sleep;
        time2sleep.tv_sec = 0;
        time2sleep.tv_nsec = time * 1000 * 1000; // SLEEP in milliseconds
        nanosleep(&time2sleep, NULL);
    #endif
    }

}