TimeKeeper.cpp

Go to the documentation of this file.

/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXCore::application::ArmarXTimeserver
 * @author     Clemens Wallrath ( uagzs at student dot kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl.txt
 *             GNU General Public License
 */
 
#include "TimeKeeper.h"
 
namespace armarx
{
    TimeKeeper::TimeKeeper()
    {
        reset();
        running = false;
    }
 
    IceUtil::Time
    TimeKeeper::getTime() const
    {
 
        if (running)
        {
            return offset + (IceUtil::Time::now() - startTime) * speed;
        }
        else
        {
            return offset;
        }
    }
 
    void
    TimeKeeper::reset()
    {
        offset = IceUtil::Time::microSeconds(0);
        startTime = IceUtil::Time::now();
        speed = 1;
    }
 
    void
    TimeKeeper::setSpeed(float newSpeed)
    {
        offset = getTime();
        startTime = IceUtil::Time::now();
        speed = newSpeed;
    }
 
    float
    TimeKeeper::getSpeed()
    {
        return speed;
    }
 
    void
    TimeKeeper::start()
    {
        if (!running)
        {
            startTime = IceUtil::Time::now();
            running = true;
        }
    }
 
    void
    TimeKeeper::stop()
    {
        if (running)
        {
            offset = getTime();
            running = false;
        }
    }
 
    void
    TimeKeeper::step(IceUtil::Time stepSize)
    {
        offset += stepSize;
    }
} // namespace armarx