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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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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* SOT */ |
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#include <dynamic-graph/factory.h> |
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#include <sot/core/macros-signal.hh> |
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#include <sot/core/matrix-geometry.hh> |
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#include <sot/core/time-stamp.hh> |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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using namespace dynamicgraph; |
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using namespace dynamicgraph::sot; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(TimeStamp, "TimeStamp"); |
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/* --- CONSTRUCTION ---------------------------------------------------- */ |
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TimeStamp::TimeStamp(const std::string &name) |
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: Entity(name), |
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offsetValue(0), |
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offsetSet(false), |
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timeSOUT("TimeStamp(" + name + ")::output(vector2)::time"), |
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timeDoubleSOUT("TimeStamp(" + name + ")::output(double)::timeDouble"), |
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timeOnceSOUT(boost::bind(&TimeStamp::getTimeStamp, this, _1, _2), |
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sotNOSIGNAL, |
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"TimeStamp(" + name + ")::output(vector2)::synchro"), |
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timeOnceDoubleSOUT( |
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boost::bind(&TimeStamp::getTimeStampDouble, this, |
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SOT_CALL_SIG(timeSOUT, dynamicgraph::Vector), _1), |
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timeSOUT, "TimeStamp(" + name + ")::output(double)::synchroDouble") { |
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sotDEBUGIN(15); |
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timeSOUT.setFunction(boost::bind(&TimeStamp::getTimeStamp, this, _1, _2)); |
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timeDoubleSOUT.setFunction( |
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boost::bind(&TimeStamp::getTimeStampDouble, this, |
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SOT_CALL_SIG(timeSOUT, dynamicgraph::Vector), _1)); |
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timeOnceSOUT.setNeedUpdateFromAllChildren(true); |
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timeOnceDoubleSOUT.setNeedUpdateFromAllChildren(true); |
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signalRegistration(timeSOUT << timeDoubleSOUT << timeOnceSOUT |
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<< timeOnceDoubleSOUT); |
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gettimeofday(&val, NULL); |
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sotDEBUGOUT(15); |
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} |
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/* --- DISPLAY --------------------------------------------------------- */ |
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void TimeStamp::display(std::ostream &os) const { |
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os << "TimeStamp <> : " << val.tv_sec << "s; " << val.tv_usec << "us." |
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<< std::endl; |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --- CONTROL --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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dynamicgraph::Vector &TimeStamp::getTimeStamp(dynamicgraph::Vector &res, |
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const int & /*time*/) { |
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sotDEBUGIN(15); |
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gettimeofday(&val, NULL); |
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if (res.size() != 2) res.resize(2); |
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res(0) = static_cast<double>(val.tv_sec); |
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res(1) = static_cast<double>(val.tv_usec); |
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sotDEBUGOUT(15); |
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return res; |
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} |
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double &TimeStamp::getTimeStampDouble(const dynamicgraph::Vector &vect, |
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double &res) { |
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sotDEBUGIN(15); |
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if (offsetSet) |
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res = (vect(0) - offsetValue) * 1000; |
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else |
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res = vect(0) * 1000; |
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res += vect(1) / 1000; |
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sotDEBUGOUT(15); |
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return res; |
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} |