timeutil.cpp

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// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
// IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#include "timeutil.h"
#include <iostream>

#ifdef _WINDOWS
#include <time.h>
#include <windows.h>
#endif

#ifdef UNIX
#include <unistd.h>
#endif

namespace g2o {

#ifdef _WINDOWS
#if defined(_MSC_VER) || defined(_MSC_EXTENSIONS)
  #define DELTA_EPOCH_IN_MICROSECS  11644473600000000Ui64
#else
  #define DELTA_EPOCH_IN_MICROSECS  11644473600000000ULL
#endif

struct timezone
{
  int  tz_minuteswest; /* minutes W of Greenwich */
  int  tz_dsttime;     /* type of dst correction */
};

int gettimeofday(struct timeval *tv, struct timezone *tz)
{
// Define a structure to receive the current Windows filetime
  FILETIME ft;
 
// Initialize the present time to 0 and the timezone to UTC
  unsigned __int64 tmpres = 0;
  static int tzflag = 0;
 
  if (NULL != tv)
  {
    GetSystemTimeAsFileTime(&ft);
 
// The GetSystemTimeAsFileTime returns the number of 100 nanosecond 
// intervals since Jan 1, 1601 in a structure. Copy the high bits to 
// the 64 bit tmpres, shift it left by 32 then or in the low 32 bits.
    tmpres |= ft.dwHighDateTime;
    tmpres <<= 32;
    tmpres |= ft.dwLowDateTime;
 
// Convert to microseconds by dividing by 10
    tmpres /= 10;
 
// The Unix epoch starts on Jan 1 1970.  Need to subtract the difference 
// in seconds from Jan 1 1601.
    tmpres -= DELTA_EPOCH_IN_MICROSECS;
 
// Finally change microseconds to seconds and place in the seconds value. 
// The modulus picks up the microseconds.
    tv->tv_sec = (long)(tmpres / 1000000UL);
    tv->tv_usec = (long)(tmpres % 1000000UL);
  }
 
  if (NULL != tz) {
    if (!tzflag) {
      _tzset();
      tzflag++;
    }

    long sec;
    int hours;
    _get_timezone(&sec);
    _get_daylight(&hours);
  
// Adjust for the timezone west of Greenwich
    tz->tz_minuteswest = sec / 60;
    tz->tz_dsttime = hours;
  }
 
  return 0;
}
#endif

ScopeTime::ScopeTime(const char* title) : _title(title), _startTime(get_monotonic_time()) {}

ScopeTime::~ScopeTime() {
  std::cerr << _title<<" took "<<1000*(get_monotonic_time()-_startTime)<<"ms.\n";
}

double get_monotonic_time()
{
#if (defined(_POSIX_TIMERS) && (_POSIX_TIMERS+0 >= 0) && defined(_POSIX_MONOTONIC_CLOCK))
  struct timespec ts;
  clock_gettime(CLOCK_MONOTONIC, &ts);
  return ts.tv_sec + ts.tv_nsec*1e-9;
#else
  return get_time();
#endif
}

} // end namespace