Thomas Branch / Mbed 2 deprecated ICRSEurobot13

ICRS Eurobot 2013

Dependencies:   mbed mbed-rtos Servo QEI

tvmet/util/Timer.h@15:9c5aaeda36dc, 2013-04-06 (annotated)

Committer:
madcowswe
Date:
Sat Apr 06 20:57:54 2013 +0000
Revision:
15:9c5aaeda36dc
Encoders fairly tuned, still has random noise in it

Who changed what in which revision?

UserRevisionLine numberNew contents of line
madcowswe 15:9c5aaeda36dc 1 /*
madcowswe 15:9c5aaeda36dc 2 * Tiny Vector Matrix Library
madcowswe 15:9c5aaeda36dc 3 * Dense Vector Matrix Libary of Tiny size using Expression Templates
madcowswe 15:9c5aaeda36dc 4 *
madcowswe 15:9c5aaeda36dc 5 * Copyright (C) 2001 - 2007 Olaf Petzold <opetzold@users.sourceforge.net>
madcowswe 15:9c5aaeda36dc 6 *
madcowswe 15:9c5aaeda36dc 7 * This library is free software; you can redistribute it and/or
madcowswe 15:9c5aaeda36dc 8 * modify it under the terms of the GNU Lesser General Public
madcowswe 15:9c5aaeda36dc 9 * License as published by the Free Software Foundation; either
madcowswe 15:9c5aaeda36dc 10 * version 2.1 of the License, or (at your option) any later version.
madcowswe 15:9c5aaeda36dc 11 *
madcowswe 15:9c5aaeda36dc 12 * This library is distributed in the hope that it will be useful,
madcowswe 15:9c5aaeda36dc 13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
madcowswe 15:9c5aaeda36dc 14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
madcowswe 15:9c5aaeda36dc 15 * Lesser General Public License for more details.
madcowswe 15:9c5aaeda36dc 16 *
madcowswe 15:9c5aaeda36dc 17 * You should have received a copy of the GNU Lesser General Public
madcowswe 15:9c5aaeda36dc 18 * License along with this library; if not, write to the Free Software
madcowswe 15:9c5aaeda36dc 19 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
madcowswe 15:9c5aaeda36dc 20 *
madcowswe 15:9c5aaeda36dc 21 * $Id: Timer.h,v 1.9 2007-06-23 15:58:59 opetzold Exp $
madcowswe 15:9c5aaeda36dc 22 */
madcowswe 15:9c5aaeda36dc 23
madcowswe 15:9c5aaeda36dc 24 #ifndef TVMET_UTIL_TIMER_H
madcowswe 15:9c5aaeda36dc 25 #define TVMET_UTIL_TIMER_H
madcowswe 15:9c5aaeda36dc 26
madcowswe 15:9c5aaeda36dc 27 #if defined(TVMET_HAVE_SYS_TIME_H) && defined(TVMET_HAVE_UNISTD_H)
madcowswe 15:9c5aaeda36dc 28 # include <sys/time.h>
madcowswe 15:9c5aaeda36dc 29 # include <sys/resource.h>
madcowswe 15:9c5aaeda36dc 30 # include <unistd.h>
madcowswe 15:9c5aaeda36dc 31 #else
madcowswe 15:9c5aaeda36dc 32 # include <ctime>
madcowswe 15:9c5aaeda36dc 33 #endif
madcowswe 15:9c5aaeda36dc 34
madcowswe 15:9c5aaeda36dc 35 namespace tvmet {
madcowswe 15:9c5aaeda36dc 36
madcowswe 15:9c5aaeda36dc 37 namespace util {
madcowswe 15:9c5aaeda36dc 38
madcowswe 15:9c5aaeda36dc 39 /**
madcowswe 15:9c5aaeda36dc 40 \class Timer Timer.h "tvmet/util/Timer.h"
madcowswe 15:9c5aaeda36dc 41 \brief A quick& dirty portable timer, measures elapsed time.
madcowswe 15:9c5aaeda36dc 42
madcowswe 15:9c5aaeda36dc 43 It is recommended that implementations measure wall clock rather than CPU
madcowswe 15:9c5aaeda36dc 44 time since the intended use is performance measurement on systems where
madcowswe 15:9c5aaeda36dc 45 total elapsed time is more important than just process or CPU time.
madcowswe 15:9c5aaeda36dc 46
madcowswe 15:9c5aaeda36dc 47 The accuracy of timings depends on the accuracy of timing information
madcowswe 15:9c5aaeda36dc 48 provided by the underlying platform, and this varies from platform to
madcowswe 15:9c5aaeda36dc 49 platform.
madcowswe 15:9c5aaeda36dc 50 */
madcowswe 15:9c5aaeda36dc 51
madcowswe 15:9c5aaeda36dc 52 class Timer
madcowswe 15:9c5aaeda36dc 53 {
madcowswe 15:9c5aaeda36dc 54 Timer(const Timer&);
madcowswe 15:9c5aaeda36dc 55 Timer& operator=(const Timer&);
madcowswe 15:9c5aaeda36dc 56
madcowswe 15:9c5aaeda36dc 57 public: // types
madcowswe 15:9c5aaeda36dc 58 typedef double time_t;
madcowswe 15:9c5aaeda36dc 59
madcowswe 15:9c5aaeda36dc 60 public:
madcowswe 15:9c5aaeda36dc 61 /** starts the timer immediatly. */
madcowswe 15:9c5aaeda36dc 62 Timer() { m_start_time = getTime(); }
madcowswe 15:9c5aaeda36dc 63
madcowswe 15:9c5aaeda36dc 64 /** restarts the timer */
madcowswe 15:9c5aaeda36dc 65 void restart() { m_start_time = getTime(); }
madcowswe 15:9c5aaeda36dc 66
madcowswe 15:9c5aaeda36dc 67 /** return elapsed time in seconds */
madcowswe 15:9c5aaeda36dc 68 time_t elapsed() const { return (getTime() - m_start_time); }
madcowswe 15:9c5aaeda36dc 69
madcowswe 15:9c5aaeda36dc 70 private:
madcowswe 15:9c5aaeda36dc 71 time_t getTime() const {
madcowswe 15:9c5aaeda36dc 72 #if defined(TVMET_HAVE_SYS_TIME_H) && defined(TVMET_HAVE_UNISTD_H)
madcowswe 15:9c5aaeda36dc 73 getrusage(RUSAGE_SELF, &m_rusage);
madcowswe 15:9c5aaeda36dc 74 time_t sec = m_rusage.ru_utime.tv_sec; // user, no system time
madcowswe 15:9c5aaeda36dc 75 time_t usec = m_rusage.ru_utime.tv_usec; // user, no system time
madcowswe 15:9c5aaeda36dc 76 return sec + usec/1e6;
madcowswe 15:9c5aaeda36dc 77 #else
madcowswe 15:9c5aaeda36dc 78 return static_cast<time_t>(std::clock()) / static_cast<time_t>(CLOCKS_PER_SEC);
madcowswe 15:9c5aaeda36dc 79 #endif
madcowswe 15:9c5aaeda36dc 80 }
madcowswe 15:9c5aaeda36dc 81
madcowswe 15:9c5aaeda36dc 82 private:
madcowswe 15:9c5aaeda36dc 83 #if defined(TVMET_HAVE_SYS_TIME_H) && defined(TVMET_HAVE_UNISTD_H)
madcowswe 15:9c5aaeda36dc 84 mutable struct rusage m_rusage;
madcowswe 15:9c5aaeda36dc 85 #endif
madcowswe 15:9c5aaeda36dc 86 time_t m_start_time;
madcowswe 15:9c5aaeda36dc 87 };
madcowswe 15:9c5aaeda36dc 88
madcowswe 15:9c5aaeda36dc 89 } // namespace util
madcowswe 15:9c5aaeda36dc 90
madcowswe 15:9c5aaeda36dc 91 } // namespace tvmet
madcowswe 15:9c5aaeda36dc 92
madcowswe 15:9c5aaeda36dc 93 #endif // TVMET_UTIL_TIMER_H
madcowswe 15:9c5aaeda36dc 94
madcowswe 15:9c5aaeda36dc 95 // Local Variables:
madcowswe 15:9c5aaeda36dc 96 // mode:C++
madcowswe 15:9c5aaeda36dc 97 // tab-width:8
madcowswe 15:9c5aaeda36dc 98 // End: