vpTime.cpp

/****************************************************************************
 *
 * $Id: vpTime.cpp 4622 2014-01-28 17:40:36Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Time management and measurement.
 *
 * Authors:
 * Eric Marchand
 * Fabien Spindler
 *
 *****************************************************************************/



#include <visp/vpTime.h>
#include <visp/vpDebug.h>
#include <iostream>


// Unix depend version

#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
#  include <sys/time.h>
#  include <unistd.h>
#elif defined(_WIN32)
#  include <windows.h>
#  include <winbase.h>
#endif

double vpTime::minTimeForUsleepCall = 4; 
double
vpTime::measureTimeMs()
{
#if defined(_WIN32)
  LARGE_INTEGER time, frequency;
  QueryPerformanceFrequency(&frequency);
  if(frequency.QuadPart == 0){
    return(timeGetTime());
  }
  else{
  QueryPerformanceCounter(&time);
  return (double)(1000.0*time.QuadPart/frequency.QuadPart);
  }
#elif !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
  struct timeval tp;
  gettimeofday(&tp,0);
  return(1000.0*tp.tv_sec + tp.tv_usec/1000.0);
#endif
}


double
vpTime::measureTimeMicros()
{
#if defined(_WIN32)
  LARGE_INTEGER time, frequency;
  QueryPerformanceFrequency(&frequency);
  if(frequency.QuadPart == 0){
    return(timeGetTime());
  }
  else{
  QueryPerformanceCounter(&time);
  return (double)(1000000.0*time.QuadPart/frequency.QuadPart);
  }
#else

  struct timeval tp;
  gettimeofday(&tp,0);
  return(1000000.0*tp.tv_sec + tp.tv_usec);
#endif
}



int
vpTime::wait(double t0, double t)
{
  double timeCurrent, timeToWait;
  timeCurrent = measureTimeMs();

  timeToWait = t0 + t - timeCurrent;

  if ( timeToWait <= 0. ) // no need to wait
    return(1);
  else {
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
    if (timeToWait > vpTime::minTimeForUsleepCall) {
      usleep((unsigned long )((timeToWait-vpTime::minTimeForUsleepCall)*1000));
    }
#elif defined(_WIN32)
    if (timeToWait > vpTime::minTimeForUsleepCall) {
      Sleep((DWORD)(timeToWait-vpTime::minTimeForUsleepCall));
    }
#endif
    // Blocking loop to have an accurate waiting
    do {
      timeCurrent = measureTimeMs();
      timeToWait = t0 + t - timeCurrent;

    } while (timeToWait > 0.);

    return 0;
  }
}


void vpTime::wait(double t)
{
  double t0, timeCurrent, timeToWait;
  t0 = timeCurrent = measureTimeMs();

  timeToWait = t;

  if ( timeToWait <= 0. ) // no need to wait
    return;
  else {
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
    if (timeToWait > vpTime::minTimeForUsleepCall) {
      usleep((unsigned long )((timeToWait-vpTime::minTimeForUsleepCall)*1000));
    }
#elif defined(_WIN32)
    if (timeToWait > vpTime::minTimeForUsleepCall) {
      Sleep((DWORD)(timeToWait-vpTime::minTimeForUsleepCall));
    }
#endif
    // Blocking loop to have an accurate waiting
    do {
      timeCurrent = measureTimeMs();
      timeToWait = t0 + t - timeCurrent;

    } while (timeToWait > 0.);

    return;
  }
}

double  vpTime::measureTimeSecond()
{
  return vpTime::measureTimeMs()/1000.0 ;
}

void vpTime::sleepMs(double t)
{
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
   usleep((unsigned long )(t*1000));
#elif defined(_WIN32)
   Sleep((DWORD)(t));
#endif
}