// 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 #include /// 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. void 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. long long Timer::getSystemTime (void) { timeval tv; gettimeofday (&tv, 0); return ((long long) tv.tv_sec % 1000000) * 1000 + (long long) tv.tv_usec / 1000; } /// Constructeur. Timer::Timer (void) { programStart_ = getSystemTime (); roundStart_ = -1; }