TimeBase.cpp
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00001 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
00002 
00003 // -- BEGIN LICENSE BLOCK ----------------------------------------------
00004 // This file is part of FZIs ic_workspace.
00005 //
00006 // This program is free software licensed under the LGPL
00007 // (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
00008 // You can find a copy of this license in LICENSE folder in the top
00009 // directory of the source code.
00010 //
00011 // © Copyright 2014 FZI Forschungszentrum Informatik, Karlsruhe, Germany
00012 //
00013 // -- END LICENSE BLOCK ------------------------------------------------
00014 
00015 //----------------------------------------------------------------------
00022 //----------------------------------------------------------------------
00023 #include "TimeBase.h"
00024 
00025 #include <limits>
00026 
00027 #include "os_lxrt.h"
00028 #include "os_time.h"
00029 
00030 #ifdef _SYSTEM_LXRT_33_
00031 # include <rtai_lxrt.h>
00032 # include <rtai_posix.h>
00033 #endif
00034 
00035 namespace icl_core {
00036 
00037 TimeBase& TimeBase::operator += (const TimeBase& span)
00038 {
00039   secs += span.secs;
00040   nsecs += span.nsecs;
00041   normalizeTime();
00042   return *this;
00043 }
00044 
00045 TimeBase& TimeBase::operator -= (const TimeBase& span)
00046 {
00047   secs -= span.secs;
00048   nsecs -= span.nsecs;
00049   normalizeTime();
00050   return *this;
00051 }
00052 
00053 bool TimeBase::operator != (const TimeBase& other) const
00054 {
00055   return (secs != other.secs) || (nsecs != other.nsecs);
00056 }
00057 
00058 bool TimeBase::operator == (const TimeBase& other) const
00059 {
00060   return (secs == other.secs) && (nsecs == other.nsecs);
00061 }
00062 
00063 bool TimeBase::operator < (const TimeBase& other) const
00064 {
00065   return (secs == other.secs) ? (nsecs < other.nsecs) : (secs < other.secs);
00066 }
00067 
00068 bool TimeBase::operator > (const TimeBase& other) const
00069 {
00070   return (secs == other.secs) ? (nsecs > other.nsecs) : (secs > other.secs);
00071 }
00072 
00073 bool TimeBase::operator <= (const TimeBase& other) const
00074 {
00075   return (secs == other.secs) ? (nsecs <= other.nsecs) : (secs < other.secs);
00076 }
00077 
00078 bool TimeBase::operator >= (const TimeBase& other) const
00079 {
00080   return (secs == other.secs) ? (nsecs >= other.nsecs) : (secs > other.secs);
00081 }
00082 
00083 void TimeBase::normalizeTime()
00084 {
00085   while (((secs >= 0) && (nsecs >= 1000000000)) ||
00086          ((secs <= 0) && (nsecs <= -1000000000)) ||
00087          ((secs > 0) && (nsecs < 0)) ||
00088          ((secs < 0) && (nsecs > 0)))
00089   {
00090     if ((secs >= 0) && (nsecs >= 1000000000))
00091     {
00092       nsecs -= 1000000000;
00093       ++secs;
00094     }
00095     else if ((secs <= 0) && (nsecs <= -1000000000))
00096     {
00097       nsecs += 1000000000;
00098       --secs;
00099     }
00100     else if ((secs > 0) && (nsecs < 0))
00101     {
00102       nsecs += 1000000000;
00103       --secs;
00104     }
00105     else if ((secs < 0) && (nsecs > 0))
00106     {
00107       nsecs -= 1000000000;
00108       ++secs;
00109     }
00110   }
00111 }
00112 
00113 struct timespec TimeBase::timespec() const
00114 {
00115   struct timespec time;
00116   time.tv_sec = time_t(secs);
00117   time.tv_nsec = long(nsecs);
00118   return time;
00119 }
00120 
00121 struct timespec TimeBase::systemTimespec() const
00122 {
00123 #ifdef _SYSTEM_LXRT_33_
00124   if (os::isThisLxrtTask())
00125   {
00126     struct timespec time = timespec();
00127     struct timespec global_now;
00128     os::gettimeofday(&global_now);
00129 
00130     RTIME rtime_rtai_now = rt_get_time();
00131     RTIME rtime_global_now = timespec2count(&global_now);
00132     RTIME rtime_time = timespec2count(&time);
00133 
00134     count2timespec(rtime_time + rtime_rtai_now - rtime_global_now, &time);
00135 
00136     return time;
00137   }
00138   else
00139   {
00140 #endif
00141     return timespec();
00142 #ifdef _SYSTEM_LXRT_33_
00143   }
00144 #endif
00145 }
00146 
00147 #ifdef _SYSTEM_DARWIN_
00148 mach_timespec_t TimeBase::machTimespec() const
00149 {
00150   mach_timespec_t time;
00151   time.tv_sec = static_cast<unsigned int>(secs);
00152   time.tv_nsec = static_cast<clock_res_t>(nsecs);
00153   return time;
00154 }
00155 #endif
00156 
00158 #ifdef _IC_BUILDER_DEPRECATED_STYLE_
00159 
00160   void TimeBase::NormalizeTime()
00161   {
00162     normalizeTime();
00163   }
00164 
00165   int64_t TimeBase::Days() const
00166   {
00167     return days();
00168   }
00169 
00170   int64_t TimeBase::Hours() const
00171   {
00172     return hours();
00173   }
00174 
00175   int64_t TimeBase::Minutes() const
00176   {
00177     return minutes();
00178   }
00179 
00180   int64_t TimeBase::Seconds() const
00181   {
00182     return seconds();
00183   }
00184 
00185   int32_t TimeBase::MilliSeconds() const
00186   {
00187     return milliSeconds();
00188   }
00189 
00190   int32_t TimeBase::MicroSeconds() const
00191   {
00192     return microSeconds();
00193   }
00194 
00195   int32_t TimeBase::NanoSeconds() const
00196   {
00197     return nanoSeconds();
00198   }
00199 
00200   int64_t TimeBase::TbSec() const
00201   {
00202     return tbSec();
00203   }
00204 
00205   int32_t TimeBase::TbNSec() const
00206   {
00207     return tbNSec();
00208   }
00209 
00210   struct timespec TimeBase::Timespec() const
00211   {
00212     return timespec();
00213   }
00214 
00215   struct timespec TimeBase::SystemTimespec() const
00216   {
00217     return systemTimespec();
00218   }
00219 
00220 #ifdef _SYSTEM_DARWIN_
00221 
00224   mach_timespec_t TimeBase::MachTimespec() const
00225   {
00226     return machTimespec();
00227   }
00228 #endif
00229 
00230 #endif
00231 
00232 TimeBase TimeBase::maxTime()
00233 {
00234 // TODO: Fix this in a better way!
00235 #undef max
00236   return TimeBase(std::numeric_limits<int64_t>::max(), 999999999);
00237 }
00238 
00239 TimeBase::TimeBase(int64_t secs, int32_t nsecs)
00240   : secs(secs),
00241     nsecs(nsecs)
00242 {
00243   normalizeTime();
00244 }
00245 
00246 TimeBase::TimeBase(const struct timespec& time)
00247   : secs(time.tv_sec),
00248     nsecs(time.tv_nsec)
00249 {
00250   normalizeTime();
00251 }
00252 
00253 void TimeBase::fromTimespec(const struct timespec& time)
00254 {
00255   secs = time.tv_sec;
00256   nsecs = time.tv_nsec;
00257   normalizeTime();
00258 }
00259 
00261 #ifdef _IC_BUILDER_DEPRECATED_STYLE_
00262 
00263   TimeBase TimeBase::MaxTime()
00264   {
00265     return maxTime();
00266   }
00267 
00268   void TimeBase::FromTimespec(const struct timespec& time)
00269   {
00270     fromTimespec(time);
00271   }
00272 
00273 #endif
00274 
00275 
00276 }


schunk_svh_driver
Author(s): Georg Heppner
autogenerated on Fri Aug 28 2015 12:59:19