time.hpp

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Wed Jan 18 14:11:39 CET 2006  Time.hpp 

                        Time.hpp -  description
                           -------------------
    begin                : Wed January 18 2006
    copyright            : (C) 2006 Peter Soetens
    email                : [e-mail]
 
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
 *   License as published by the Free Software Foundation;                 *
 *   version 2 of the License.                                             *
 *                                                                         *
 *   As a special exception, you may use this file as part of a free       *
 *   software library without restriction.  Specifically, if other files   *
 *   instantiate templates or use macros or inline functions from this     *
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 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
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 *   This library is distributed in the hope that it will be useful,       *
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 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
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 *   Foundation, Inc., 59 Temple Place,                                    *
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 ***************************************************************************/
 
 
#ifndef OS_TIME_HPP
#define OS_TIME_HPP

#include <cmath>

namespace RTT
{ namespace OS {

    typedef double Seconds;
    typedef long secs;
    typedef long msecs;
    typedef long usecs;
    typedef long long nsecs;

    const long MSECS_IN_SECS = 1000;
    const long USECS_IN_SECS = 1000 * MSECS_IN_SECS;
    const long NSECS_IN_SECS = 1000 * USECS_IN_SECS;

    const long USECS_IN_MSECS = 1000;
    const long NSECS_IN_MSECS = 1000 * USECS_IN_MSECS;

    const long NSECS_IN_USECS = 1000;

    inline msecs secs_to_msecs(const secs s) { return s * MSECS_IN_SECS; }
    inline usecs secs_to_usecs(const secs s) { return s * USECS_IN_SECS; }
    inline nsecs secs_to_nsecs(const secs s) { return s * NSECS_IN_SECS; }

    inline usecs msecs_to_usecs(const msecs ms) { return ms * USECS_IN_MSECS; }
    inline nsecs msecs_to_nsecs(const msecs ms) { return ms * NSECS_IN_MSECS; }

    inline nsecs usecs_to_nsecs(const usecs us) { return us * NSECS_IN_USECS; }

    inline nsecs Seconds_to_nsecs(const Seconds s) { return nsecs( rint( s * secs_to_nsecs(1) ) ); }
    inline Seconds nsecs_to_Seconds(const nsecs ns) { return Seconds( ns ) / Seconds(NSECS_IN_SECS); }

}}

#endif