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authorSebastian Reichel <sre@ring0.de>2012-11-02 19:24:33 +0100
committerSebastian Reichel <sre@ring0.de>2012-11-02 19:24:33 +0100
commitadfe7c37b333c245256885aa3d8ac1077e24ff18 (patch)
tree215e00e7e64a042fabbbd8b6ffc412137c223992 /timer.vala
parenta0bd460f7f901d48d111511d9e7c2d92aaac0fa2 (diff)
downloadmicrocopterd-master.tar.bz2
make PID timing more precise, setup P, I and DHEADmaster
Diffstat (limited to 'timer.vala')
-rw-r--r--timer.vala39
1 files changed, 39 insertions, 0 deletions
diff --git a/timer.vala b/timer.vala
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+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+public struct Timer {
+ private Posix.timespec time_old;
+
+ public void start() {
+ Posix.clock_gettime(Posix.CLOCK_MONOTONIC, out time_old);
+ }
+
+ public ulong ellapsed() {
+ ulong result;
+ Posix.timespec time_new;
+
+ Posix.clock_gettime(Posix.CLOCK_MONOTONIC, out time_new);
+
+ if(time_new.tv_sec < time_old.tv_sec)
+ result = 0;
+ else if(time_new.tv_sec == time_old.tv_sec)
+ result = (time_new.tv_nsec - time_old.tv_nsec) / 1000;
+ else
+ result = (time_new.tv_sec - time_old.tv_sec) * 1000 - (time_old.tv_nsec/1000) + (time_new.tv_nsec/1000);
+
+ time_old = time_new;
+ return result;
+ }
+}