clock.cpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit 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
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */


#include <stdio.h>

#include <acado/clock/clock.hpp>


BEGIN_NAMESPACE_ACADO




Clock::Clock( )
{
        reset( );
}


Clock::Clock( const Clock &rhs )
{
        elapsedTime = rhs.elapsedTime;
        status = rhs.status;
}


Clock::~Clock( )
{
}


Clock& Clock::operator=( const Clock &rhs )
{
        if( this != &rhs )
        {
                elapsedTime = rhs.elapsedTime;
                status = rhs.status;
        }

        return *this;
}



returnValue Clock::init(        double _initialTime
                                                        )
{
        elapsedTime = _initialTime;
        status = CS_STOPPED;

        return SUCCESSFUL_RETURN;
}


returnValue Clock::reset( )
{
        return init( 0.0 );
}


returnValue Clock::getTime(     double& _elapsedTime
                                                        )
{
        switch( status )
        {
                case CS_NOT_INITIALIZED:
                        return ACADOERROR( RET_BLOCK_NOT_READY );

                case CS_RUNNING:
                        stop( );
                        _elapsedTime = elapsedTime;
                        start( );
                        return SUCCESSFUL_RETURN;

                case CS_STOPPED:
                        _elapsedTime = elapsedTime;
                        return SUCCESSFUL_RETURN;

                default:
                        return ACADOERROR( RET_UNKNOWN_BUG );
        }
}


double Clock::getTime( )
{
        double _elapsedTime;

        if ( getTime( _elapsedTime ) == SUCCESSFUL_RETURN )
                return _elapsedTime;
        else
                return -INFTY;
}


CLOSE_NAMESPACE_ACADO


/*
 *      end of file
 */