timer.h

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#ifndef _TIMER_H_
#define _TIMER_H_

#define MINIMUM_IPC_SLEEP 0.005

//####################################################################
// Includes:
//####################################################################

//System Includes
#include <sys/time.h>
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <pthread.h>
#include <ros/ros.h>
//Include lar wrappers

//Include lar individual modules


//Include local modules



// double lar_get_time();

class c_timer{
        public:
                c_timer();
                ~c_timer();
                
                void tic(int);
                void toc(int);
                void run_sleep(int, double);
                void set_ipc_sleep(int);
                char run_ipc_sleep(double, int, char);
                double get_toc(int);//added by dgameiro on 25-02-2010
                void verb(int start=0, int end=10){printf("class timer tocs...\n");for (int i=start;i<end;i++) {printf("toc[%d]=%3.4f ms\n",i,lar_toc[i]*1000.0);}};
                
        private:
                //pthread_mutex_t ipc_connected_mutex; 
                char ipc_connected;
                pthread_mutex_t clock_tic_mutex;
                double clock_tic[10];
                pthread_mutex_t clock_set_mutex;
                char clock_set[10];
                pthread_mutex_t lar_tic_mutex;
                double lar_tic[10];
                pthread_mutex_t lar_toc_mutex;
                double lar_toc[10];
};
#endif