vpTime.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Time management and measurement.
 */

 
#include <ctime>
 
#include <visp3/core/vpTime.h>
 
// https://devblogs.microsoft.com/cppblog/c14-stl-features-fixes-and-breaking-changes-in-visual-studio-14-ctp1/
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) &&                                                                       \
    (defined(_MSC_VER) && _MSC_VER >= 1900 /* VS2015 */ || !defined(_MSC_VER))
#define USE_CXX11_CHRONO 1
#else
#define USE_CXX11_CHRONO 0
#endif
 
// Unix depend version
 
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
#include <sys/time.h>
#include <unistd.h>
#elif defined(_WIN32)
//#include <winbase.h>// Mute warning with clang-cl
// warning : non-portable path to file '<Windows.h>'; specified path differs in case from file name on disk [-Wnonportable-system-include-path]
#if defined(__clang__)
#  pragma clang diagnostic push
#  pragma clang diagnostic ignored "-Wnonportable-system-include-path"
#endif
 
#include <windows.h>
 
#if defined(__clang__)
#  pragma clang diagnostic pop
#endif
 
#endif
 
BEGIN_VISP_NAMESPACE
#ifndef DOXYGEN_SHOULD_SKIP_THIS
namespace vpTime
{
#endif

static const double minTimeForUsleepCall = 4;

double getMinTimeForUsleepCall() { return minTimeForUsleepCall; }

double measureTimeMicros()
{
#if USE_CXX11_CHRONO
  std::chrono::system_clock::time_point now = std::chrono::system_clock::now();
  return std::chrono::duration<double, std::micro>(now.time_since_epoch()).count();
#else
#if defined(_WIN32)
#if !defined(WINRT)
  LARGE_INTEGER time, frequency;
  QueryPerformanceFrequency(&frequency);
  if (frequency.QuadPart == 0) {
    return (timeGetTime());
  }
  else {
    QueryPerformanceCounter(&time);
    return static_cast<double>(1000000.0 * time.QuadPart / frequency.QuadPart);
  }
#else
  throw(vpException(vpException::fatalError, "Cannot get time: not implemented on Universal Windows Platform"));
#endif
#elif !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
  struct timeval tp;
  gettimeofday(&tp, 0);
  return (1000000.0 * tp.tv_sec + tp.tv_usec);
#endif
#endif
}

double measureTimeMs()
{
#if USE_CXX11_CHRONO
  std::chrono::system_clock::time_point now = std::chrono::system_clock::now();
  return std::chrono::duration<double, std::milli>(now.time_since_epoch()).count();
#else
#if defined(_WIN32)
#if !defined(WINRT)
  LARGE_INTEGER time, frequency;
  QueryPerformanceFrequency(&frequency);
  if (frequency.QuadPart == 0) {
    return (timeGetTime());
  }
  else {
    QueryPerformanceCounter(&time);
    return static_cast<double>(1000.0 * time.QuadPart / frequency.QuadPart);
  }
#else
  throw(vpException(vpException::fatalError, "Cannot get time: not implemented on Universal Windows Platform"));
#endif
#elif !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
  struct timeval tp;
  gettimeofday(&tp, 0);
  return (1000.0 * tp.tv_sec + tp.tv_usec / 1000.0);
#endif
#endif
}

double measureTimeSecond() { return vpTime::measureTimeMs() * 1e-3; }

int wait(double t0, double t)
{
  double timeCurrent, timeToWait;
  timeCurrent = measureTimeMs();
 
  timeToWait = t0 + (t - timeCurrent);
 
  if (timeToWait <= 0.) { // no need to wait
    return 1;
  }
  else {
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
    if (timeToWait > vpTime::minTimeForUsleepCall) {
      usleep(static_cast<useconds_t>((timeToWait - vpTime::minTimeForUsleepCall) * 1000));
    }
    // Blocking loop to have an accurate waiting
    do {
      timeCurrent = measureTimeMs();
      timeToWait = t0 + (t - timeCurrent);
 
    } while (timeToWait > 0.);
 
    return 0;
#elif defined(_WIN32)
#if !defined(WINRT_8_0)
    if (timeToWait > vpTime::minTimeForUsleepCall) {
      Sleep(static_cast<DWORD>(timeToWait - vpTime::minTimeForUsleepCall));
    }
    // Blocking loop to have an accurate waiting
    do {
      timeCurrent = measureTimeMs();
      timeToWait = t0 + t - timeCurrent;
 
    } while (timeToWait > 0.);
 
    return 0;
#else
    throw(vpException(vpException::functionNotImplementedError,
                      "vpTime::wait() is not implemented on Windows Phone 8.0"));
#endif
#endif
  }
}

void wait(double t)
{
  double timeToWait = t;
 
  if (timeToWait <= 0.) { // no need to wait
    return;
  }
  else {
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
    double t0 = measureTimeMs();
    if (timeToWait > vpTime::minTimeForUsleepCall) {
      usleep(static_cast<useconds_t>((timeToWait - vpTime::minTimeForUsleepCall) * 1000));
    }
    // Blocking loop to have an accurate waiting
    do {
      double timeCurrent = measureTimeMs();
      timeToWait = t0 + (t - timeCurrent);
 
    } while (timeToWait > 0.);
 
    return;
#elif defined(_WIN32)
#if !defined(WINRT_8_0)
    double t0 = measureTimeMs();
    if (timeToWait > vpTime::minTimeForUsleepCall) {
      Sleep(static_cast<DWORD>(timeToWait - vpTime::minTimeForUsleepCall));
    }
    // Blocking loop to have an accurate waiting
    do {
      double timeCurrent = measureTimeMs();
      timeToWait = t0 + t - timeCurrent;
 
    } while (timeToWait > 0.);
 
    return;
#else
    throw(vpException(vpException::functionNotImplementedError,
                      "vpTime::wait() is not implemented on Windows Phone 8.0"));
#endif
#endif
  }
}

void sleepMs(double t)
{
#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
  usleep(static_cast<useconds_t>(t * 1000));
#elif defined(_WIN32)
#if !defined(WINRT_8_0)
  Sleep(static_cast<DWORD>(t));
#else
  throw(vpException(vpException::functionNotImplementedError,
                    "vpTime::sleepMs() is not implemented on Windows Phone 8.0"));
#endif
#endif
}

std::string getDateTime(const std::string &format)
{
  time_t rawtime;
  struct tm *timeinfo;
  char buffer[80];
 
  time(&rawtime);
  timeinfo = localtime(&rawtime);
 
  strftime(buffer, 80, format.c_str(), timeinfo);
  std::string str(buffer);
 
  return str;
}
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
}
#endif
 
vpChrono::vpChrono() : m_durationMs(), m_lastTimePoint() { }

double vpChrono::getDurationMicros() { return m_durationMs * 1e3; }

double vpChrono::getDurationMs() { return m_durationMs; }

double vpChrono::getDurationSeconds() { return m_durationMs * 1e-3; }

void vpChrono::start(bool reset)
{
#if USE_CXX11_CHRONO
  m_lastTimePoint = std::chrono::steady_clock::now();
#else
  m_lastTimePoint = vpTime::measureTimeMs();
#endif
  if (reset) {
    m_durationMs = 0.0;
  }
}

void vpChrono::stop()
{
#if USE_CXX11_CHRONO
  m_durationMs += std::chrono::duration<double, std::milli>(std::chrono::steady_clock::now() - m_lastTimePoint).count();
#else
  m_durationMs += vpTime::measureTimeMs() - m_lastTimePoint;
#endif
}
END_VISP_NAMESPACE