1 | // |
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2 | // You received this file as part of RRLib |
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3 | // Robotics Research Library |
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4 | // |
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5 | // Copyright (C) Finroc GbR (finroc.org) |
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6 | // |
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7 | // This program is free software; you can redistribute it and/or modify |
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8 | // it under the terms of the GNU General Public License as published by |
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9 | // the Free Software Foundation; either version 2 of the License, or |
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10 | // (at your option) any later version. |
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11 | // |
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12 | // This program is distributed in the hope that it will be useful, |
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13 | // but WITHOUT ANY WARRANTY; without even the implied warranty of |
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14 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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15 | // GNU General Public License for more details. |
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16 | // |
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17 | // You should have received a copy of the GNU General Public License along |
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18 | // with this program; if not, write to the Free Software Foundation, Inc., |
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19 | // 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. |
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20 | // |
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21 | //---------------------------------------------------------------------- |
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22 | /*!\file rrlib/util/tTime.h |
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23 | * |
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24 | * \author Jens Wettach |
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25 | * |
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26 | * \date 2011-01-04 |
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27 | * |
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28 | * \brief |
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29 | * |
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30 | */ |
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31 | //---------------------------------------------------------------------- |
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32 | #ifndef _util_tTime_h_ |
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33 | #define _util_tTime_h_ |
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34 | |
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35 | #include <sys/time.h> |
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36 | #include <iostream> |
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37 | #include "rrlib/time/time.h" |
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38 | |
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39 | namespace rrlib |
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40 | { |
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41 | |
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42 | #ifdef _LIB_RRLIB_SERIALIZATION_PRESENT_ |
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43 | namespace serialization |
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44 | { |
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45 | class tInputStream; |
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46 | class tOutputStream; |
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47 | } |
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48 | #endif |
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49 | |
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50 | namespace util |
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51 | { |
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52 | //! Repesents times (absolutes and differences) |
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53 | /*! Use this class whenever you want to deal with times, |
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54 | as it provides a number of operators and functions. |
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55 | */ |
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56 | class tTime |
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57 | { |
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58 | public: |
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59 | |
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60 | //! standard constructor, creates a null-time |
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61 | tTime() |
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62 | { |
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63 | tv_sec = 0; |
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64 | tv_usec = 0; |
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65 | } |
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66 | ; |
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67 | |
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68 | //! constructor, takes a timeval for creation |
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69 | tTime(const tTime & t) |
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70 | { |
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71 | tv_sec = t.tv_sec; |
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72 | tv_usec = t.tv_usec; |
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73 | } |
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74 | |
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75 | //! constructor, takes a timeval for creation |
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76 | tTime(timeval t) |
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77 | { |
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78 | tv_sec = t.tv_sec; |
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79 | tv_usec = t.tv_usec; |
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80 | } |
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81 | |
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82 | //! constructor that gets a time in seconds plus microseconds |
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83 | tTime(long sec, long usec) |
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84 | { |
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85 | tv_sec = sec; |
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86 | tv_usec = usec; |
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87 | NormalizeTime(); |
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88 | } |
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89 | |
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90 | //! constructor that gets a time in seconds plus microseconds |
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91 | tTime(const rrlib::time::tTimestamp ×tamp) |
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92 | { |
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93 | // 1970-01-01T00:00:00+00:00 |
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94 | const rrlib::time::tTimestamp unix_timestamp = std::chrono::system_clock::from_time_t(0); |
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95 | rrlib::time::tDuration duration = timestamp - unix_timestamp; |
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96 | tv_sec = std::chrono::duration_cast <std::chrono::seconds> (duration).count(); |
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97 | tv_usec = std::chrono::duration_cast <std::chrono::microseconds> (duration).count() - tv_sec * 1000000; |
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98 | NormalizeTime(); |
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99 | } |
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100 | |
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101 | //! This static function returns a tTime that contains the current System-time |
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102 | static inline tTime Now() |
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103 | { |
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104 | timeval ntime; |
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105 | gettimeofday(&ntime, 0); |
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106 | return tTime(ntime); |
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107 | } |
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108 | |
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109 | /*! Returns the time of the current thread (time elapsed since start |
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110 | of thread. It exists only for internal MCA usage. You do not need |
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111 | to call it directly. */ |
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112 | static inline tTime TaskTime() |
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113 | { |
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114 | # if (CLOCKS_PER_SEC == 1000000) |
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115 | |
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116 | return tTime(0, clock()); |
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117 | # else |
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118 | |
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119 | return tTime(0, clock() * (1000000 / CLOCKS_PER_SEC)); |
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120 | # endif |
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121 | |
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122 | } |
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123 | |
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124 | /*! Returns a time that is calculated by tTime::Now()+tTime(0,usec) |
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125 | */ |
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126 | static inline tTime FutureUSec(long usec) |
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127 | { |
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128 | tTime ntime(0, usec); |
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129 | //FromUSec(usec); |
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130 | ntime += tTime::Now(); |
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131 | return ntime; |
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132 | } |
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133 | |
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134 | /*! Returns a time that is calculated by |
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135 | tTime::Now()+tTime.FromMSec(msec) |
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136 | */ |
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137 | static inline tTime FutureMSec(long msec) |
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138 | { |
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139 | tTime ntime(0, msec * 1000); |
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140 | //FromMSec(msec); |
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141 | ntime += tTime::Now(); |
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142 | return ntime; |
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143 | } |
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144 | |
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145 | /*! Returns a time that is calculated by tTime::Now()+tTime(sec,0) |
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146 | */ |
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147 | static inline tTime FutureSec(long sec) |
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148 | { |
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149 | tTime ntime(sec, 0); |
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150 | //FromSec(sec); |
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151 | ntime += tTime::Now(); |
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152 | return ntime; |
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153 | } |
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154 | |
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155 | /*! Sets tTime to zero. Return value is tTime itself. */ |
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156 | inline tTime FromZero() |
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157 | { |
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158 | tv_usec = 0; |
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159 | tv_sec = 0; |
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160 | return *this; |
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161 | } |
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162 | |
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163 | /*! Sets tTime to the current Return value is tTime itself. */ |
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164 | inline tTime FromNow() |
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165 | { |
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166 | *this = Now(); |
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167 | return *this; |
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168 | } |
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169 | |
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170 | /*! Sets tTime to the current task Return value is tTime itself. */ |
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171 | inline tTime FromTaskTime() |
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172 | { |
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173 | *this = TaskTime(); |
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174 | return *this; |
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175 | } |
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176 | |
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177 | /*! Sets tTime to tTime(sec,0). Return value is tTime itself. */ |
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178 | inline tTime FromSec(long sec) |
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179 | { |
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180 | *this = tTime(sec, 0); |
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181 | return *this; |
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182 | } |
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183 | |
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184 | /*! Splits msec in sec and usec and sets tTime to tTime(sec,usec). Return value is tTime itsself. */ |
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185 | inline tTime FromMSec(long msec) |
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186 | { |
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187 | if (msec < 0) |
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188 | *this = tTime(msec / 1000 - 1, ((msec % 1000) + 1000) * 1000); |
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189 | else |
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190 | *this = tTime(msec / 1000, (msec % 1000) * 1000); |
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191 | return *this; |
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192 | } |
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193 | inline tTime FromUSec(long usec) |
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194 | { |
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195 | if (usec < 0) |
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196 | *this = tTime(usec / 1000000 - 1, (usec % 1000000) + 1000000); |
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197 | else |
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198 | *this = tTime(usec / 1000000, usec % 1000000); |
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199 | return *this; |
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200 | } |
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201 | |
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202 | /*! Compares a tTime with zero. */ |
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203 | inline bool IsZero() const |
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204 | { |
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205 | return ((tv_usec == 0) && (tv_sec == 0)); |
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206 | } |
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207 | |
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208 | /*! Returns tTime in nanoseconds */ |
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209 | inline long long ToNSec() const |
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210 | { |
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211 | return ((long long)tv_usec + (long long)tv_sec * 1000000) * 1000; |
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212 | } |
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213 | |
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214 | /*! Returns tTime in microseconds */ |
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215 | inline long long ToUSec() const |
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216 | { |
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217 | return (long long)tv_usec + (long long)tv_sec * 1000000; |
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218 | } |
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219 | |
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220 | /*! Returns tTime in milli seconds rounded down to an long integer.*/ |
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221 | inline long long ToMSec() const |
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222 | { |
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223 | return (long long)tv_usec / 1000 + (long long)tv_sec * 1000; |
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224 | } |
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225 | |
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226 | /*! Returns tTime in seconds rounded down to an long integer.*/ |
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227 | inline long ToSec() const |
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228 | { |
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229 | return tv_sec; |
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230 | } |
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231 | |
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232 | /*! Don't use this function: Returns the tv_sec value if timeval which is the basis of tTime */ |
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233 | inline long TvSec() const |
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234 | { |
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235 | return tv_sec; |
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236 | } |
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237 | |
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238 | /*! Don't use this function: Returns the tv_usec value if timeval which is the basis of tTime */ |
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239 | inline long TvUSec() const |
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240 | { |
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241 | return tv_usec; |
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242 | } |
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243 | |
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244 | /*! Don't use this function: Returns the tv_usec value if timeval which is the basis of tTime */ |
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245 | inline long TvNSec() const |
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246 | { |
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247 | return tv_usec * 1000; |
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248 | } |
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249 | |
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250 | /*! Don't use this function: Sets the internal tv_sec variable of timeval */ |
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251 | inline void SetTvSec(long new_tv_sec) |
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252 | { |
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253 | tv_sec = new_tv_sec; |
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254 | } |
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255 | |
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256 | /*! Don't use this function: Sets the internal tv_usec variable of timeval */ |
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257 | inline void SetTvUSec(long new_tv_usec) |
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258 | { |
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259 | tv_usec = new_tv_usec; |
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260 | } |
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261 | |
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262 | /*! Use this function if you want to express the time in hours, minutes and seconds */ |
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263 | inline int Hours() const |
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264 | { |
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265 | return tv_sec / 3600 % 24; |
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266 | } |
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267 | |
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268 | /*! Use this function if you want to express the time in hours, minutes and seconds */ |
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269 | inline int Minutes() const |
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270 | { |
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271 | return (tv_sec % 3600) / 60; |
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272 | } |
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273 | |
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274 | /*! Use this function if you want to express the time in hours, minutes and seconds */ |
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275 | inline int Seconds() const |
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276 | { |
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277 | return (tv_sec % 3600) % 60; |
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278 | } |
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279 | |
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280 | /*! Use this function if you want to get the subseconds in milliseconds (rounded) */ |
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281 | inline int MSeconds() const |
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282 | { |
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283 | return tv_usec / 1000; |
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284 | } |
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285 | |
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286 | /*! Adds two times */ |
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287 | inline tTime operator+(const tTime& b) const |
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288 | { |
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289 | tTime a = *this; |
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290 | return a += b; |
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291 | } |
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292 | |
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293 | /*! Adds a second time */ |
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294 | inline tTime operator+=(const tTime& b) |
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295 | { |
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296 | tv_usec += b.tv_usec; |
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297 | tv_sec += b.tv_sec; |
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298 | //NormalizeTimePositive(); |
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299 | NormalizeTime(); |
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300 | return *this; |
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301 | } |
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302 | |
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303 | /*! Substracts the second time from the first */ |
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304 | inline tTime operator-(const tTime& b) const |
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305 | { |
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306 | tTime a = *this; |
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307 | return a -= b; |
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308 | } |
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309 | |
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310 | /*! Substracts a second time */ |
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311 | inline tTime operator-=(const tTime& b) |
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312 | { |
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313 | tv_usec -= b.tv_usec; |
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314 | tv_sec -= b.tv_sec; |
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315 | //NormalizeTimeNegative(); |
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316 | NormalizeTime(); |
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317 | return *this; |
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318 | } |
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319 | |
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320 | /*! sign operator */ |
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321 | inline tTime operator-() const |
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322 | { |
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323 | tTime a(-tv_sec, tv_usec); |
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324 | // a.tv_usec = tv_usec; |
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325 | // a.tv_sec = -tv_sec; |
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326 | return a; |
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327 | } |
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328 | |
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329 | /*! Multiplies the time by a factor. Uses operator*= (see below). */ |
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330 | inline tTime operator*(double factor) const |
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331 | { |
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332 | tTime a = *this; |
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333 | return a *= factor; |
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334 | } |
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335 | |
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336 | /*! Multiplies by a factor. */ |
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337 | inline tTime operator*=(double factor) |
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338 | { |
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339 | tv_usec = (long)(tv_usec * factor); |
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340 | tv_sec = (long)(tv_sec * factor); |
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341 | NormalizeTime(); |
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342 | return *this; |
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343 | } |
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344 | |
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345 | /*! Compares two variables of type tTime. Returns true if they are not equal*/ |
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346 | inline bool operator!=(const tTime& b) const |
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347 | { |
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348 | return (tv_usec != b.tv_usec) || (tv_sec != b.tv_sec); |
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349 | } |
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350 | |
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351 | /*! Compares two variables of type tTime. Returns true if they are equal*/ |
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352 | inline bool operator==(const tTime& b) const |
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353 | { |
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354 | return (tv_usec == b.tv_usec) && (tv_sec == b.tv_sec); |
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355 | } |
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356 | |
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357 | /*! Compares two variables of type tTime. Returns true if the first one is earlier than the second one*/ |
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358 | inline bool operator<(const tTime& b) const |
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359 | { |
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360 | return (tv_sec == b.tv_sec) ? (tv_usec < b.tv_usec) : (tv_sec < b.tv_sec); |
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361 | } |
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362 | |
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363 | /*! Compares two variables of type tTime. Returns true if the first one is later than the second one*/ |
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364 | inline bool operator>(const tTime& b) const |
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365 | { |
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366 | return (tv_sec == b.tv_sec) ? (tv_usec > b.tv_usec) : (tv_sec > b.tv_sec); |
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367 | } |
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368 | |
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369 | /*! Compares two variables of type tTime. Returns true if the first one is erlier than or equal to the second one*/ |
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370 | inline bool operator<=(const tTime& b) const |
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371 | { |
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372 | return (tv_sec == b.tv_sec) ? ((tv_usec == b.tv_usec) || (tv_usec < b.tv_usec)) : (tv_sec < b.tv_sec); |
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373 | } |
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374 | |
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375 | /*! Compares two variables of type tTime. Returns true if the first one is later than or equal to the second one*/ |
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376 | inline bool operator>=(const tTime& b) const |
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377 | { |
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378 | return (tv_sec == b.tv_sec) ? ((tv_usec == b.tv_usec) || (tv_usec > b.tv_usec)) : (tv_sec > b.tv_sec); |
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379 | } |
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380 | |
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381 | operator rrlib::time::tTimestamp() const |
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382 | { |
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383 | rrlib::time::tTimestamp timestamp = std::chrono::system_clock::from_time_t((time_t) this->tv_sec); |
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384 | return timestamp + std::chrono::duration_cast<rrlib::time::tDuration>(std::chrono::microseconds(this->tv_usec)); |
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385 | } |
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386 | |
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387 | /*! Casts this tTime object into timespec object (consists of tv_sec/tv_nsec, see h)*/ |
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388 | operator timespec() const |
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389 | { |
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390 | timespec t = { tv_sec, 1000 * tv_usec }; |
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391 | return t; |
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392 | } |
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393 | |
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394 | /*! Returns a formatted string for strftime-like-usage instead of getting "(sec, usec)", which is not really readable when used as global timestamp (date) */ |
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395 | inline std::string GetString(const std::string &format_string) const |
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396 | { |
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397 | char buffer[64]; |
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398 | strftime(buffer, sizeof(buffer), format_string.c_str(), localtime(&tv_sec)); |
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399 | return std::string(buffer); |
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400 | } |
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401 | |
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402 | // some standard time intervals to be used for timeouts etc |
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403 | static const tTime time_forever; |
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404 | static const tTime time_0ms; |
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405 | static const tTime time_1us; |
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406 | static const tTime time_1ms; |
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407 | static const tTime time_5ms; |
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408 | static const tTime time_10ms; |
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409 | static const tTime time_20ms; |
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410 | static const tTime time_25ms; |
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411 | static const tTime time_30ms; |
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412 | static const tTime time_40ms; |
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413 | static const tTime time_50ms; |
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414 | static const tTime time_100ms; |
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415 | static const tTime time_200ms; |
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416 | static const tTime time_250ms; |
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417 | static const tTime time_300ms; |
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418 | static const tTime time_400ms; |
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419 | static const tTime time_500ms; |
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420 | static const tTime time_1s; |
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421 | static const tTime time_2s; |
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422 | static const tTime time_5s; |
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423 | static const tTime time_10s; |
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424 | static const tTime time_30s; |
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425 | static const tTime time_60s; |
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426 | static const tTime time_120s; |
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427 | static const tTime time_180s; |
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428 | static const tTime time_240s; |
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429 | static const tTime time_30000s; |
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430 | static const tTime time_1year; |
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431 | |
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432 | private: |
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433 | long tv_sec; |
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434 | long tv_usec; |
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435 | |
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436 | /*! Makes sure that tv_usec lies in the interval [0; 1000000] by: |
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437 | - converting multiples of 1000000 usec into multiples of sec |
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438 | - transforming tv_sec and tv_usec so that the usec part is positive |
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439 | */ |
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440 | inline void NormalizeTime() |
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441 | { |
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442 | // test modulo |
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443 | tv_sec = tv_sec + tv_usec / 1000000; |
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444 | tv_usec = tv_usec % 1000000; |
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445 | |
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446 | // ensure that usec part is positive |
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447 | if (tv_usec < 0) |
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448 | { |
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449 | tv_sec--; |
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450 | tv_usec += 1000000; |
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451 | } |
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452 | } |
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453 | }; |
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454 | |
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455 | //! Overloading the << operator for ostream |
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456 | /*! Outputs a time as a pair of long integer representing (seconds, microseconds). |
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457 | */ |
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458 | inline std::ostream &operator<<(std::ostream &ost, const tTime& time) |
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459 | { |
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460 | ost << "(" << time.TvSec() << ", " << time.TvUSec() << ")"; |
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461 | return ost; |
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462 | } |
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463 | |
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464 | //! Overloading the << operator for ostream |
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465 | /*! Outputs a time as a pair of long integer representing (seconds, microseconds). |
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466 | */ |
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467 | inline std::istream &operator>>(std::istream &str, tTime &time) |
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468 | { |
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469 | char temp; |
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470 | long int tv_sec, tv_usec; |
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471 | str >> temp; |
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472 | if (temp == '(') |
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473 | { |
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474 | str >> tv_sec >> temp >> tv_usec >> temp; |
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475 | } |
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476 | else |
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477 | { |
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478 | str.putback(temp); |
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479 | str >> tv_sec >> tv_usec; |
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480 | } |
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481 | time = tTime(tv_sec, tv_usec); |
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482 | return str; |
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483 | } |
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484 | |
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485 | |
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486 | #ifdef _LIB_RRLIB_SERIALIZATION_PRESENT_ |
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487 | |
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488 | serialization::tOutputStream &operator << (serialization::tOutputStream &stream, const tTime &t); |
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489 | |
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490 | serialization::tInputStream &operator >> (serialization::tInputStream &stream, tTime &t); |
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491 | |
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492 | #endif |
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493 | |
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494 | } |
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495 | } |
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496 | #endif |
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