56 lines
1.4 KiB
C++
56 lines
1.4 KiB
C++
#ifndef _UNITREE_ARM_TIMER_H_
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#define _UNITREE_ARM_TIMER_H_
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#include <iostream>
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#include <unistd.h>
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#include <stdint.h>
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#include <sys/time.h>
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#include <sys/timerfd.h>
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//时间戳 微秒级， 需要#include <sys/time.h>
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inline long long getSystemTime(){
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struct timeval t;
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gettimeofday(&t, NULL);
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return 1000000 * t.tv_sec + t.tv_usec;
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}
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//时间戳 秒级， 需要getSystemTime()
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inline double getTimeSecond(){
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double time = getSystemTime() * 0.000001;
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return time;
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}
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/*
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等待函数，微秒级，从startTime开始等待waitTime微秒
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目前不推荐使用，建议使用AbsoluteTimer类
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*/
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inline void absoluteWait(long long startTime, long long waitTime){
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if(getSystemTime() - startTime > waitTime){
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std::cout << "[WARNING] The waitTime=" << waitTime << " of function absoluteWait is not enough!" << std::endl
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<< "The program has already cost " << getSystemTime() - startTime << "us." << std::endl;
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}
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while(getSystemTime() - startTime < waitTime){
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usleep(50);
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}
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}
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/*
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waitTimeS = 0 means do not care time out
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*/
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class AbsoluteTimer{
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public:
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AbsoluteTimer(double waitTimeS);
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~AbsoluteTimer();
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void start();
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bool wait();
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private:
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void _updateWaitTime(double waitTimeS);
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int _timerFd;
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uint64_t _missed;
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double _waitTime;
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double _startTime;
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double _leftTime;
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double _nextWaitTime;
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itimerspec _timerSpec;
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};
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#endif |