X-lanni
123 lines
3.3 KiB
C++
123 lines
3.3 KiB
C++
/*
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* utilite is a cross-platform library with
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* useful utilities for fast and small developing.
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* Copyright (C) 2010 Mathieu Labbe
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*
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* utilite is free library: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* utilite is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "rtabmap/utilite/UTimer.h"
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#include "rtabmap/utilite/ULogger.h"
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///////////////////////
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// public:
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///////////////////////
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UTimer::UTimer()
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{
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#ifdef _WIN32
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QueryPerformanceFrequency(&frequency_);
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#endif
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start(); // This will initialize the private counters
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}
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UTimer::~UTimer() {}
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#ifdef _WIN32
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double UTimer::now()
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{
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#if defined(_WIN32_WINNT) && (_WIN32_WINNT >= _WIN32_WINNT_WIN8)
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FILETIME ft;
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GetSystemTimePreciseAsFileTime(&ft);
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__int64* val = (__int64*)&ft;
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return static_cast<double>(*val) / 10000000.0 - 11644473600.0; // The Windows epoch is Jan 1 1601, the Unix epoch Jan 1 1970.
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#else
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LARGE_INTEGER count, freq;
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QueryPerformanceFrequency(&freq);
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QueryPerformanceCounter(&count);
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return double(count.QuadPart) / freq.QuadPart;
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#endif
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}
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void UTimer::start()
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{
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QueryPerformanceCounter(&startTimeRecorded_);
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stopTimeRecorded_ = startTimeRecorded_;
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}
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void UTimer::stop()
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{
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QueryPerformanceCounter(&stopTimeRecorded_);
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}
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double UTimer::getElapsedTime()
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{
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LARGE_INTEGER now;
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QueryPerformanceCounter(&now);
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return double(now.QuadPart - startTimeRecorded_.QuadPart) / frequency_.QuadPart;
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}
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double UTimer::getInterval()
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{
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if(stopTimeRecorded_.QuadPart == startTimeRecorded_.QuadPart)
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{
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return getElapsedTime();
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}
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else
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{
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return double(stopTimeRecorded_.QuadPart - startTimeRecorded_.QuadPart) / frequency_.QuadPart;
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}
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}
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#else
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double UTimer::now()
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{
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struct timeval tv;
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gettimeofday(&tv, NULL);
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return double(tv.tv_sec) + double(tv.tv_usec) / 1000000.0;
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}
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void UTimer::start()
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{
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gettimeofday(&startTimeRecorded_, NULL);
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stopTimeRecorded_ = startTimeRecorded_;
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}
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void UTimer::stop()
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{
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gettimeofday(&stopTimeRecorded_, NULL);
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}
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double UTimer::getElapsedTime()
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{
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return UTimer::now() - (double(startTimeRecorded_.tv_sec) + double(startTimeRecorded_.tv_usec) / 1000000.0);
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}
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double UTimer::getInterval()
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{
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if(startTimeRecorded_.tv_sec == stopTimeRecorded_.tv_sec && startTimeRecorded_.tv_usec == stopTimeRecorded_.tv_usec)
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{
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return getElapsedTime();
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}
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else
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{
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double start = double(startTimeRecorded_.tv_sec) + double(startTimeRecorded_.tv_usec) / 1000000.0;
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double stop = double(stopTimeRecorded_.tv_sec) + double(stopTimeRecorded_.tv_usec) / 1000000.0;
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return stop - start;
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}
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}
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#endif
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double UTimer::ticks() // Stop->start and return Interval
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{
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double inter = elapsed();
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start();
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return inter;
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}
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