timer.cpp

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#ifndef _TIMER_CPP_
#define _TIMER_CPP_

#include <atlasmv_base/timer.h>

double lar_get_time()
{
        struct timeval tv;
        double t;
        
        if(gettimeofday(&tv, NULL)<0)
        {
                printf("\33[31mWARNING:\33[0m problem getting time\n");
        }
        
        t = (tv.tv_sec + (tv.tv_usec/1000000.0));// function gettimeofday returns time in seconds with a precision of 0.01seconds
        
        return t;
}
c_timer::c_timer()
{
        //      printf("class initialized\n");
        for (int j=0;j<10;j++)
        {
                clock_set[j] = 0; //set all ipc flags to zero
                lar_toc[j] = 0;
                lar_tic[j] = 0.0;
        }
        //if(lar_ipc_sleep(0.01))
        //{
                //ipc_connected=0;
                //}else
                //{
                        //ipc_connected=1;
                        //};
                        
                        //pthread_mutex_init(&ipc_connected_mutex, NULL);
                        pthread_mutex_init(&clock_tic_mutex, NULL);
                        pthread_mutex_init(&clock_set_mutex, NULL);
                        pthread_mutex_init(&lar_tic_mutex, NULL);
                        pthread_mutex_init(&lar_toc_mutex, NULL);
                        
};

c_timer::~c_timer()
{
}

void c_timer::set_ipc_sleep(int i)
{
        pthread_mutex_lock(&clock_set_mutex);
        if(!clock_set[i])
        {
                clock_tic[i] = lar_get_time();
                clock_set[i] = 1;
        }
        pthread_mutex_unlock(&clock_set_mutex);
};

void c_timer::run_sleep(int i, double desired_freq)
{
        double ts = (1/desired_freq);
        double tsf;
        unsigned int t;
        
        if(abs(i)<11)
        {
                //pthread_mutex_lock(&lar_toc_mutex);
                //if(!lar_toc[i])
                //{
                        //pthread_mutex_unlock(&lar_toc_mutex);
                        //toc(i);
                        //}
                        pthread_mutex_lock(&lar_tic_mutex);
                        tsf = ts - (ros::Time::now().toSec()-lar_tic[i]);
                        pthread_mutex_unlock(&lar_tic_mutex);
                        t=(tsf<0?100:tsf*1E6);
                        //printf("sleep:%d\n", t);
                        usleep(t);
}

};

char c_timer::run_ipc_sleep(double desired_freq, int i, char verbose)
{
//      double ts = (1.0/desired_freq);
//      double tsf = ts;
//      
//      pthread_mutex_lock(&clock_set_mutex);
//      if(clock_set[i])
//      {
//              tsf = ts - (ros::time:now().to_sec()-clock_tic[i]);
//              
//              if(tsf <= MINIMUM_IPC_SLEEP)
//              {
//                      if(verbose)
//                      {
//                              printf("\33[31mdesired frequency %3.1f NOK.\33[0m\n", desired_freq);
//                              printf("\33[31mactual frequency %3.2f.\33[0m\n", 1.0/(ros::time:now().to_sec()-clock_tic[i]));
//                      };
//                      tsf = MINIMUM_IPC_SLEEP;
//              }else
//              {
//                      if(verbose)
//                      {
//                              printf("\33[31mdesired frequency %3.1fHz OK.\33[0m\r", desired_freq); fflush(stdout);
//                              printf("\33[31mactual frequency %3.2f.\33[0m\n", 1.0/(ros::time:now().to_sec()-clock_tic[i]));
//                      }
//              };
//      }
//      
//      
//      //carmen_ipc_sleep(tsf);
//      char rt = lar_ipc_sleep(tsf);
//      clock_set[i]=0;
//      pthread_mutex_unlock(&clock_set_mutex);

        return 'A';
}

void c_timer::tic(int i)
{
        pthread_mutex_lock(&lar_tic_mutex);
        if(abs(i)<11)
        {
                lar_tic[i] = ros::Time::now().toSec();
        }
        pthread_mutex_unlock(&lar_tic_mutex);
};

void c_timer::toc(int i)
{
        pthread_mutex_lock(&lar_toc_mutex);
        pthread_mutex_lock(&lar_tic_mutex);
        if(abs(i)<11)
                lar_toc[i] = (ros::Time::now().toSec() - lar_tic[i]);
        
        pthread_mutex_unlock(&lar_tic_mutex);
        pthread_mutex_unlock(&lar_toc_mutex);
};

//added by dgameiro to allow get time stamp
double c_timer::get_toc(int i)
{
        if(abs(i)<11)
        {
                pthread_mutex_lock(&lar_toc_mutex);
                if(!lar_toc[i])
                {
                        pthread_mutex_unlock(&lar_toc_mutex);
                        toc(i);
                        pthread_mutex_lock(&lar_toc_mutex);
                }
                double result = lar_toc[i];
                pthread_mutex_unlock(&lar_toc_mutex);
                return result;
        }else{
                //              printf("error. can only exist 10");
        }
        return 0;
}

#endif