108 lines
2.5 KiB
C++
108 lines
2.5 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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/* Desc: A timer class
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* Author: Nate Koenig
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* Date: 22 Nov 2009
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*/
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#include "gazebo/common/Timer.hh"
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using namespace gazebo;
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using namespace common;
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//////////////////////////////////////////////////
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Timer::Timer()
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: reset(true), running(false), countdown(false)
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{
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}
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//////////////////////////////////////////////////
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Timer::Timer(const Time &_maxTime, const bool _countdown)
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: reset(true), running(false), countdown(_countdown), maxTime(_maxTime)
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{
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}
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//////////////////////////////////////////////////
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Timer::~Timer()
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{
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}
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//////////////////////////////////////////////////
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void Timer::Start()
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{
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if (this->reset)
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{
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this->start = Time::GetWallTime();
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this->reset = false;
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}
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else if (!this->running)
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{
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// Add the time that has elapsed since stopping to the start time.
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this->start += (Time::GetWallTime() - this->stop);
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}
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this->running = true;
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}
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//////////////////////////////////////////////////
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void Timer::Stop()
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{
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this->stop = Time::GetWallTime();
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this->running = false;
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}
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//////////////////////////////////////////////////
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void Timer::Reset()
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{
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this->running = false;
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this->reset = true;
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this->start = this->stop = Time::GetWallTime();
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}
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//////////////////////////////////////////////////
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bool Timer::GetRunning() const
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{
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return this->running;
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}
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//////////////////////////////////////////////////
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Time Timer::GetElapsed() const
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{
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Time elapsedTime;
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if (this->running)
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{
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elapsedTime = Time::GetWallTime() - this->start;
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}
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else
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{
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elapsedTime = this->stop - this->start;
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}
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// If we're counting down, return the countdown time minus the total
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// elapsed time.
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if (this->countdown)
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{
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if (elapsedTime > this->maxTime)
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{
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// If elapsed time is past the countdown time, return 0 (out of time)
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return Time::Zero;
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}
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return this->maxTime - elapsedTime;
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}
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return elapsedTime;
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}
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