TimeStamp.cpp
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00001 
00060 #ifdef __LINUX__
00061 #include <schunk_powercube_chain/TimeStamp.h>
00062 #else
00063 #include <windows.h>
00064 #include <schunk_powercube_chain/TimeStamp.h>
00065 
00066 namespace RTB {
00067 #endif
00068 
00069 //-----------------------------------------------------------------------------
00070 #ifdef __LINUX__
00071 TimeStamp::TimeStamp()
00072 {
00073         m_TimeStamp.tv_sec = 0;
00074         m_TimeStamp.tv_nsec = 0;
00075 }
00076 
00077 void TimeStamp::SetNow()
00078 {
00079         ::clock_gettime(CLOCK_REALTIME, &m_TimeStamp);
00080 }
00081 
00082 double TimeStamp::TimespecToDouble(const ::timespec& LargeInt)
00083 {
00084         return double(LargeInt.tv_sec) + double(LargeInt.tv_nsec) / 1e9;
00085 }
00086 
00087 ::timespec TimeStamp::DoubleToTimespec(double TimeS)    
00088 {       
00089         ::timespec DeltaTime;
00090         if (! ( TimeS < 4e9 && TimeS > 0.0 ))
00091         {
00092                 DeltaTime.tv_sec = 0;
00093                 DeltaTime.tv_nsec = 0;
00094                 return DeltaTime;
00095         }
00096 
00097         DeltaTime.tv_sec = ::time_t(TimeS);
00098         DeltaTime.tv_nsec
00099                 = static_cast<long int>((TimeS - double(DeltaTime.tv_sec)) * 1e9);
00100 
00101         return DeltaTime;
00102 }
00103 
00104 double TimeStamp::operator-(const TimeStamp& EarlierTime) const
00105 {
00106         ::timespec Res;
00107 
00108         Res.tv_sec = m_TimeStamp.tv_sec - EarlierTime.m_TimeStamp.tv_sec;
00109         Res.tv_nsec = m_TimeStamp.tv_nsec - EarlierTime.m_TimeStamp.tv_nsec;
00110 
00111         if (Res.tv_nsec < 0) {
00112                 Res.tv_sec--;
00113                 Res.tv_nsec += 1000000000;
00114         }
00115 
00116         return TimespecToDouble(Res);
00117 }
00118 
00119 void TimeStamp::operator+=(double TimeS)
00120 {
00121         ::timespec Dbl = DoubleToTimespec(TimeS);
00122         m_TimeStamp.tv_sec += Dbl.tv_sec;
00123         m_TimeStamp.tv_nsec += Dbl.tv_nsec;
00124         if (m_TimeStamp.tv_nsec > 1000000000)
00125         {
00126                 m_TimeStamp.tv_sec++;
00127                 m_TimeStamp.tv_nsec -= 1000000000;
00128         }
00129 }
00130 
00131 void TimeStamp::operator-=(double TimeS)
00132 {
00133         ::timespec Dbl = DoubleToTimespec(TimeS);
00134         m_TimeStamp.tv_sec -= Dbl.tv_sec;
00135         m_TimeStamp.tv_nsec -= Dbl.tv_nsec;
00136         if (m_TimeStamp.tv_nsec < 0.0)
00137         {
00138                 m_TimeStamp.tv_sec--;
00139                 m_TimeStamp.tv_nsec += 1000000000;
00140         }
00141 }
00142 
00143 bool TimeStamp::operator>(const TimeStamp& Time)
00144 {
00145         if (m_TimeStamp.tv_sec > Time.m_TimeStamp.tv_sec) return true;
00146         if ((m_TimeStamp.tv_sec == Time.m_TimeStamp.tv_sec) &&
00147                 (m_TimeStamp.tv_nsec > Time.m_TimeStamp.tv_nsec)) return true;
00148         return false;
00149 }
00150 
00151 bool TimeStamp::operator<(const TimeStamp& Time)
00152 {
00153         if (m_TimeStamp.tv_sec < Time.m_TimeStamp.tv_sec) return true;
00154         if ((m_TimeStamp.tv_sec == Time.m_TimeStamp.tv_sec) &&
00155                 (m_TimeStamp.tv_nsec < Time.m_TimeStamp.tv_nsec)) return true;
00156         return false;
00157 }
00158 
00159 void TimeStamp::getTimeStamp(long& lSeconds, long& lNanoSeconds)
00160 {
00161         lSeconds = m_TimeStamp.tv_sec;
00162         lNanoSeconds = m_TimeStamp.tv_nsec;
00163 };
00164 
00165 void TimeStamp::setTimeStamp(const long& lSeconds, const long& lNanoSeconds)
00166 {
00167         m_TimeStamp.tv_sec = lSeconds;
00168         m_TimeStamp.tv_nsec = lNanoSeconds;
00169 };
00170 
00171 #else
00172 //-------------------------------------------------------------------
00173 
00174 LARGE_INTEGER ClockFrequency;
00175 BOOL CounterHW = QueryPerformanceFrequency( &ClockFrequency );
00176 double TimeStamp::m_SecPerCount = 1.0 / TimeStamp::LargeIntToDouble(ClockFrequency);
00177 double TimeStamp::m_DwordSize = double(0xFFFFFFFF);
00178 
00179 //-----------------------------------------------------------------------------
00180 
00181 TimeStamp::TimeStamp()
00182 {
00183         m_TimeStamp.HighPart = 0;
00184         m_TimeStamp.LowPart = 0;
00185 }
00186 
00187 void TimeStamp::SetNow()
00188 {
00189         QueryPerformanceCounter( &m_TimeStamp );
00190 }
00191 
00192 double TimeStamp::LargeIntToDouble(const LARGE_INTEGER& LargeInt)
00193 {
00194         return LargeInt.HighPart * m_DwordSize + LargeInt.LowPart;
00195 }
00196 
00197 LARGE_INTEGER TimeStamp::DoubleToLargeInt(double TimeS) 
00198 {       
00199         LARGE_INTEGER DeltaTime;
00200         DeltaTime.LowPart = 0;
00201         DeltaTime.HighPart = 0;
00202         if (! ( TimeS < 4e9 && TimeS > 0.0 )) return DeltaTime;
00203         DeltaTime.LowPart = (unsigned long)(TimeS / m_SecPerCount);
00204         return DeltaTime;
00205 }
00206 
00207 double TimeStamp::operator-(const TimeStamp& EarlierTime) const
00208 {
00209         LARGE_INTEGER Res;
00210         Res.HighPart = m_TimeStamp.HighPart - EarlierTime.m_TimeStamp.HighPart;
00211         Res.LowPart = m_TimeStamp.LowPart - EarlierTime.m_TimeStamp.LowPart;
00212         if (EarlierTime.m_TimeStamp.LowPart > m_TimeStamp.LowPart)
00213                 Res.HighPart--;
00214         return LargeIntToDouble(Res) * m_SecPerCount;
00215 }
00216 
00217 void TimeStamp::operator+=(double TimeS)
00218 {
00219         LARGE_INTEGER& Dbl = DoubleToLargeInt(TimeS);
00220         LARGE_INTEGER Res;
00221         Res.LowPart = m_TimeStamp.LowPart + Dbl.LowPart;
00222         if ((Res.LowPart < m_TimeStamp.LowPart) || (Res.LowPart < Dbl.LowPart))
00223                 m_TimeStamp.HighPart++;
00224         m_TimeStamp.LowPart = Res.LowPart;
00225 }
00226 
00227 void TimeStamp::operator-=(double TimeS)
00228 {
00229         LARGE_INTEGER& Dbl = DoubleToLargeInt(TimeS);
00230         LARGE_INTEGER Res;
00231         Res.LowPart = m_TimeStamp.LowPart - Dbl.LowPart;
00232         Res.HighPart = m_TimeStamp.HighPart - Dbl.HighPart;
00233         if ((Res.LowPart > m_TimeStamp.LowPart))
00234                 Res.HighPart--;
00235         m_TimeStamp.LowPart = Res.LowPart;
00236         m_TimeStamp.HighPart = Res.HighPart;
00237 }
00238 
00239 bool TimeStamp::operator>(const TimeStamp& Time)
00240 {
00241         if (m_TimeStamp.HighPart > Time.m_TimeStamp.HighPart) return true;
00242         if ((m_TimeStamp.HighPart == Time.m_TimeStamp.HighPart) &&
00243                 (m_TimeStamp.LowPart > Time.m_TimeStamp.LowPart)) return true;
00244         return false;
00245 }
00246 
00247 bool TimeStamp::operator<(const TimeStamp& Time)
00248 {
00249         if (m_TimeStamp.HighPart < Time.m_TimeStamp.HighPart) return true;
00250         if ((m_TimeStamp.HighPart == Time.m_TimeStamp.HighPart) &&
00251                 (m_TimeStamp.LowPart < Time.m_TimeStamp.LowPart)) return true;
00252         return false;
00253 }
00254 }
00255 #endif
00256 
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schunk_powercube_chain
Author(s): Florian Weisshardt
autogenerated on Tue Mar 5 2013 14:44:47