Timer.h
Go to the documentation of this file.00001 /* 00002 * Katana Native Interface - A C++ interface to the robot arm Katana. 00003 * Copyright (C) 2005 Neuronics AG 00004 * Check out the AUTHORS file for detailed contact information. 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 */ 00020 00021 #ifndef KNITIMER_H 00022 #define KNITIMER_H 00023 00024 #include <ctime> 00025 00026 #ifndef WIN32 // POSIX 1b 00027 #include <sys/time.h> 00028 #endif 00029 00030 namespace KNI { 00031 00036 void sleep(long time); 00037 00041 class Timer { 00042 private: 00043 long _timeout; 00044 00045 #ifdef WIN32 00046 clock_t _ct; 00047 #else 00048 struct timeval _ct; 00049 #endif 00050 00052 long _ElapsedTime() const; 00053 00054 public: 00055 Timer(); 00056 Timer(long timeout); 00057 00058 void Set(long timeout); 00059 void Start(); 00060 00061 void Set_And_Start(long timeout); 00062 00066 bool Elapsed() const; 00067 00071 long ElapsedTime() const; 00072 00076 void WaitUntilElapsed() const; 00077 00078 }; 00079 00080 00081 00082 } 00083 00084 #endif