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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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#ifndef __SOT_TIMER_HH |
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#define __SOT_TIMER_HH |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* Classes standards. */ |
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#include <list> /* Classe std::list */ |
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#ifndef WIN32 |
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#include <sys/time.h> |
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#else /*WIN32*/ |
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// When including Winsock2.h, the MAL must be included first |
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#include <Winsock2.h> |
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#include <dynamic-graph/linear-algebra.h> |
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#include <sot/core/utils-windows.hh> |
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#endif /*WIN32*/ |
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/* SOT */ |
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#include <dynamic-graph/all-signals.h> |
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#include <dynamic-graph/entity.h> |
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#include <sot/core/debug.hh> |
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/* --------------------------------------------------------------------- */ |
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/* --- API ------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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#if defined(WIN32) |
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#if defined(timer_EXPORTS) |
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#define Timer_EXPORT __declspec(dllexport) |
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#else |
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#define Timer_EXPORT __declspec(dllimport) |
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#endif |
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#else |
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#define Timer_EXPORT |
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#endif |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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template <class T> |
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class Timer_EXPORT Timer : public dynamicgraph::Entity { |
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public: |
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static const std::string CLASS_NAME; |
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virtual const std::string &getClassName(void) const { return CLASS_NAME; } |
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protected: |
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struct timeval t0, t1; |
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clock_t c0, c1; |
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double dt; |
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public: |
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/* --- CONSTRUCTION --- */ |
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Timer(const std::string &name); |
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public: /* --- DISPLAY --- */ |
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virtual void display(std::ostream &os) const; |
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Timer_EXPORT friend std::ostream &operator<<(std::ostream &os, |
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const Timer<T> &timer) { |
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timer.display(os); |
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return os; |
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} |
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public: /* --- SIGNALS --- */ |
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dynamicgraph::SignalPtr<T, int> sigSIN; |
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dynamicgraph::SignalTimeDependent<T, int> sigSOUT; |
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dynamicgraph::SignalTimeDependent<T, int> sigClockSOUT; |
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dynamicgraph::Signal<double, int> timerSOUT; |
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protected: /* --- SIGNAL FUNCTIONS --- */ |
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void plug(dynamicgraph::Signal<T, int> &sig) { |
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sigSIN = &sig; |
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dt = 0.; |
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} |
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template <bool UseClock> |
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T &compute(T &t, const int &time) { |
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sotDEBUGIN(15); |
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if (UseClock) { |
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c0 = clock(); |
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sotDEBUG(15) << "t0: " << c0 << std::endl; |
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} else { |
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gettimeofday(&t0, NULL); |
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sotDEBUG(15) << "t0: " << t0.tv_sec << " - " << t0.tv_usec << std::endl; |
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} |
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t = sigSIN(time); |
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if (UseClock) { |
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c1 = clock(); |
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sotDEBUG(15) << "t1: " << c0 << std::endl; |
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dt = ((double)(c1 - c0) * 1000) / CLOCKS_PER_SEC; |
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} else { |
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gettimeofday(&t1, NULL); |
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dt = ((static_cast<double>(t1.tv_sec) - static_cast<double>(t0.tv_sec)) * |
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1000. + |
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(static_cast<double>(t1.tv_usec) - static_cast<double>(t0.tv_usec) + |
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0.) / |
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1000.); |
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sotDEBUG(15) << "t1: " << t1.tv_sec << " - " << t1.tv_usec << std::endl; |
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} |
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timerSOUT = dt; |
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timerSOUT.setTime(time); |
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sotDEBUGOUT(15); |
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return t; |
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} |
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double &getDt(double &res, const int & /*time*/) { |
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res = dt; |
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return res; |
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} |
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}; |
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void cmdChrono(const std::string &cmd, std::istringstream &args, |
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std::ostream &os); |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --- CONSTRUCTION ---------------------------------------------------- */ |
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template <class T> |
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Timer<T>::Timer(const std::string &name) |
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: Entity(name), |
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dt(0.), |
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sigSIN(NULL, "Timer(" + name + ")::input(T)::sin"), |
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sigSOUT(boost::bind(&Timer::compute<false>, this, _1, _2), sigSIN, |
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"Timer(" + name + ")::output(T)::sout"), |
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sigClockSOUT(boost::bind(&Timer::compute<true>, this, _1, _2), sigSIN, |
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"Timer(" + name + ")::output(T)::clockSout"), |
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timerSOUT("Timer(" + name + ")::output(double)::timer") { |
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sotDEBUGIN(15); |
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timerSOUT.setFunction(boost::bind(&Timer::getDt, this, _1, _2)); |
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signalRegistration(sigSIN << sigSOUT << sigClockSOUT << timerSOUT); |
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sotDEBUGOUT(15); |
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} |
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/* --- DISPLAY --------------------------------------------------------- */ |
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template <class T> |
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void Timer<T>::display(std::ostream &os) const { |
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os << "Timer <" << sigSIN << "> : " << dt << "ms." << std::endl; |
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} |
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#endif /* #ifndef __SOT_SOT_HH */ |