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WPILib 2012
WPILibRoboticsLibraryforFRC
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Timer.h
00001 /*----------------------------------------------------------------------------*/ 00002 /* Copyright (c) FIRST 2008. All Rights Reserved. */ 00003 /* Open Source Software - may be modified and shared by FRC teams. The code */ 00004 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */ 00005 /*----------------------------------------------------------------------------*/ 00006 00007 #ifndef TIMER_H_ 00008 #define TIMER_H_ 00009 00010 #include "semLib.h" 00011 #include "Base.h" 00012 00013 typedef void (*TimerInterruptHandler)(void *param); 00014 00015 void Wait(double seconds); 00016 double GetClock(); 00017 double GetTime(); 00018 00019 00027 class Timer 00028 { 00029 public: 00030 Timer(); 00031 virtual ~Timer(); 00032 double Get(); 00033 void Reset(); 00034 void Start(); 00035 void Stop(); 00036 bool HasPeriodPassed(double period); 00037 00038 static double GetFPGATimestamp(); 00039 static double GetPPCTimestamp(); 00040 00041 private: 00042 double m_startTime; 00043 double m_accumulatedTime; 00044 bool m_running; 00045 SEM_ID m_semaphore; 00046 DISALLOW_COPY_AND_ASSIGN(Timer); 00047 }; 00048 00049 #endif
