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/*****************************************************************************
* *
* PrimeSense PSCommon Library *
* Copyright (C) 2012 PrimeSense Ltd. *
* *
* This file is part of PSCommon. *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); *
* you may not use this file except in compliance with the License. *
* You may obtain a copy of the License at *
* *
* http://www.apache.org/licenses/LICENSE-2.0 *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* *
*****************************************************************************/
//---------------------------------------------------------------------------
// Includes
//---------------------------------------------------------------------------
#include <XnOS.h>
//---------------------------------------------------------------------------
// Global Variables
//---------------------------------------------------------------------------
XnOSTimer g_xnOSHighResGlobalTimer;
bool g_xnOSInitialized = false;
XnStatus xnOSTimeInit();
static XnStatus g_initalizeStatus __attribute__ ((unused)) = xnOSTimeInit();
//---------------------------------------------------------------------------
// Macros
//---------------------------------------------------------------------------
/* Translates from struct timespec to microseconds. */
#define TIMESPEC_TO_MICRO_SECS(ts) (ts.tv_sec * 1000000 + ts.tv_nsec / 1000)
//---------------------------------------------------------------------------
// Code
//---------------------------------------------------------------------------
XN_C_API XnStatus xnOSGetEpochTime(XnUInt32* nEpochTime)
{
*nEpochTime = (XnUInt32)time(NULL);
// All is good...
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnOSGetTimeStamp(XnUInt64* nTimeStamp)
{
// Local function variables
XnStatus nRetVal = XN_STATUS_OK;
// Get the high resolution global timer value
nRetVal = xnOSGetHighResTimeStamp(nTimeStamp);
XN_IS_STATUS_OK(nRetVal);
// Convert from microseconds to milliseconds
*nTimeStamp /= 1000;
// All is good...
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnOSGetHighResTimeStamp(XnUInt64* nTimeStamp)
{
// Local function variables
XnStatus nRetVal = XN_STATUS_OK;
// TODO: Check if the core subsystem is initialized
// Validate the input/output pointers (to make sure none of them is NULL)
XN_VALIDATE_OUTPUT_PTR(nTimeStamp);
// Get the high resolution global timer value
nRetVal = xnOSQueryTimer(g_xnOSHighResGlobalTimer, nTimeStamp);
XN_IS_STATUS_OK(nRetVal);
// All is good...
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnOSSleep(XnUInt32 nMilliseconds)
{
// Sleep via the OS (function needs time in microseconds)
usleep(nMilliseconds*1000);
// All is good...
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnOSStartTimer(XnOSTimer* pTimer)
{
// Validate the input/output pointers (to make sure none of them is NULL)
XN_VALIDATE_INPUT_PTR(pTimer);
if (XN_STATUS_OK != xnOSGetMonoTime(&pTimer->tStartTime))
{
return XN_STATUS_OS_TIMER_QUERY_FAILED;
}
pTimer->bHighRes = false;
return XN_STATUS_OK;
}
XN_C_API XnStatus xnOSStartHighResTimer(XnOSTimer* pTimer)
{
// start a normal timer
XnStatus nRetVal = xnOSStartTimer(pTimer);
XN_IS_STATUS_OK(nRetVal);
// now make it high-res
pTimer->bHighRes = true;
return XN_STATUS_OK;
}
XnStatus xnOSTimeInit()
{
if (!g_xnOSInitialized)
{
xnOSStartHighResTimer(&g_xnOSHighResGlobalTimer);
g_xnOSInitialized = true;
}
return XN_STATUS_OK;
}
XN_C_API XnStatus xnOSQueryTimer(XnOSTimer Timer, XnUInt64* pnTimeSinceStart)
{
// Validate the input/output pointers (to make sure none of them is NULL)
XN_VALIDATE_OUTPUT_PTR(pnTimeSinceStart);
struct timespec now;
if (XN_STATUS_OK != xnOSGetMonoTime(&now))
{
return XN_STATUS_OS_TIMER_QUERY_FAILED;
}
*pnTimeSinceStart = ((now.tv_sec - Timer.tStartTime.tv_sec) * 1E6 + (now.tv_nsec - Timer.tStartTime.tv_nsec) / 1E3);
if (!Timer.bHighRes)
{
*pnTimeSinceStart /= 1000;
}
return XN_STATUS_OK;
}
XN_C_API XnStatus xnOSStopTimer(XnOSTimer* pTimer)
{
// Validate the input/output pointers (to make sure none of them is NULL)
XN_VALIDATE_INPUT_PTR(pTimer);
memset(pTimer, 0, sizeof(XnOSTimer));
// All is good...
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnOSGetMonoTime(struct timespec* pTime)
{
#ifndef XN_PLATFORM_HAS_NO_CLOCK_GETTIME
if (0 != clock_gettime(CLOCK_REALTIME, pTime))
{
return (XN_STATUS_OS_EVENT_WAIT_FAILED);
}
#else
struct timeval tv;
gettimeofday(&tv, NULL);
pTime->tv_sec = tv.tv_sec;
pTime->tv_nsec = tv.tv_usec * 1000;
#endif
return (XN_STATUS_OK);
}
XN_C_API XnStatus xnOSGetTimeout(struct timespec* pTime, XnUInt32 nMilliseconds)
{
pTime->tv_sec = (nMilliseconds / 1000);
pTime->tv_nsec = ((nMilliseconds % 1000) * 1000000);
return XN_STATUS_OK;
}
XN_C_API XnStatus xnOSGetAbsTimeout(struct timespec* pTime, XnUInt32 nMilliseconds)
{
XnStatus nRetVal = xnOSGetMonoTime(pTime);
XN_IS_STATUS_OK(nRetVal);
pTime->tv_sec += (nMilliseconds / 1000);
pTime->tv_nsec += ((nMilliseconds % 1000) * 1000000);
if (pTime->tv_nsec >= 1000000000)
{
pTime->tv_nsec -= 1000000000;
pTime->tv_sec++;
}
return XN_STATUS_OK;
}
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