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+// timer.cc
+// robert - programme du robot 2005. {{{
+//
+// Copyright (C) 2005 Nicolas Schodet
+//
+// Robot APB Team/Efrei 2005.
+// Web: http://assos.efrei.fr/robot/
+// Email: robot AT efrei DOT fr
+//
+// This program is free software; you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation; either version 2 of the License, or
+// (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+//
+// }}}
+#include "timer.hh"
+
+#include <sys/time.h>
+#include <time.h>
+
+/// Retourne le temps depuis le début du programme en millisecondes.
+int
+Timer::getProgramTime (void)
+{
+ Timer &timer = getInstance ();
+ return getSystemTime () - timer.programStart_;
+}
+
+/// Retourne le temps depuis le début du match en millisecondes.
+int
+Timer::getRoundTime (void)
+{
+ Timer &timer = getInstance ();
+ return timer.roundStart_ != -1 ? getSystemTime () - timer.roundStart_ : 0;
+}
+
+/// Démare le match et enregistre le temps de départ.
+int
+Timer::startRound (void)
+{
+ Timer &timer = getInstance ();
+ timer.roundStart_ = getSystemTime ();
+}
+
+/// Attend un nombre de millisecondes. Attention, le robot ne fait absolument
+/// rien pendant cette periode !
+void
+Timer::wait (int t)
+{
+ timespec ts, r;
+ ts.tv_sec = t / 1000;
+ ts.tv_nsec = (t % 1000) * 1000000;
+ nanosleep (&ts, &r);
+}
+
+/// Retourne une référence vers l'instance unique.
+Timer &
+Timer::getInstance (void)
+{
+ static Timer instance;
+ return instance;
+}
+
+/// Retourne la date système.
+int
+Timer::getSystemTime (void)
+{
+ timeval tv;
+ gettimeofday (&tv, 0);
+ // Ça veut dire, un bug tous les 11 jours...
+ // XXX Attention, si le robot est à l'heure, on peut mal tomber.
+ return (tv.tv_sec % 1000000) * 1000 + tv.tv_usec / 1000;
+}
+
+/// Constructeur.
+Timer::Timer (void)
+{
+ programStart_ = getSystemTime ();
+ roundStart_ = -1;
+}
+