init

unitree_SDK/include/unitree/common/time/sleep.hpp

@@ -0,0 +1,17 @@
+#ifndef __UT_SLEEP_HPP__
+#define __UT_SLEEP_HPP__
+
+#include <unitree/common/time/time_tool.hpp>
+
+namespace unitree
+{
+namespace common
+{
+void MicroSleep(uint64_t microsecond);
+void MilliSleep(uint64_t millisecond);
+void Sleep(uint64_t second);
+
+}
+}
+
+#endif//__UT_SLEEP_HPP__

unitree_SDK/include/unitree/common/time/time_tool.hpp

@@ -0,0 +1,81 @@
+#ifndef __UT_TIME_TOOL_HPP__
+#define __UT_TIME_TOOL_HPP__
+
+#include <unitree/common/decl.hpp>
+
+namespace unitree
+{
+namespace common
+{
+#define UT_NUMER_NANO   1000000000
+#define UT_NUMER_MICRO  1000000
+#define UT_NUMER_MILLI  1000
+
+//default time format: "YEAR-MON-DAY HOUR:MIN:SEC"
+#define UT_TIME_FORMAT_STR  "%d-%02d-%02d %02d:%02d:%02d"
+
+//default precise time format: "YEAR-MON-DAY HOUR:MIN:SEC.[MILLI/MICRO]"
+#define UT_TIME_MICROSEC_FORMAT_STR "%d-%02d-%02d %02d:%02d:%02d.%06d"
+#define UT_TIME_MILLISEC_FORMAT_STR "%d-%02d-%02d %02d:%02d:%02d.%03d"
+
+void GetCurrentTimeval(struct timeval& tv);
+void GetCurrentTimespec(struct timespec& ts);
+
+uint64_t GetCurrentTime();
+uint64_t GetCurrentTimeNanosecond();
+uint64_t GetCurrentTimeMicrosecond();
+uint64_t GetCurrentTimeMillisecond();
+
+uint64_t GetCurrentCpuTimeNanosecond();
+uint64_t GetCurrentThreadCpuTimeNanosecond();
+uint64_t GetCurrentMonotonicTimeNanosecond();
+
+uint64_t GetCurrentCpuTimeMicrosecond();
+uint64_t GetCurrentThreadCpuTimeMicrosecond();
+uint64_t GetCurrentMonotonicTimeMicrosecond();
+
+uint64_t TimevalToMicrosecond(const struct timeval& tv);
+uint64_t TimevalToMillisecond(const struct timeval& tv);
+
+uint64_t TimespecToMicrosecond(const struct timespec& ts);
+uint64_t TimespecToMillisecond(const struct timespec& ts);
+
+void MicrosecondToTimeval(uint64_t microsec, struct timeval& tv);
+void MillisecondToTimeval(uint64_t millisec, struct timeval& tv);
+
+void MicrosecondToTimespec(uint64_t microsec, struct timespec& ts);
+void MillisecondToTimespec(uint64_t millisec, struct timespec& ts);
+
+std::string TimeFormatString(struct tm* tmptr, const char* format = UT_TIME_FORMAT_STR);
+std::string TimeFormatString(struct tm* tmptr, uint64_t precise, const char* format);
+std::string TimeFormatString(uint64_t sec, const char* format = UT_TIME_FORMAT_STR);
+
+std::string TimeMicrosecondFormatString(const uint64_t& microsec,
+    const char* format = UT_TIME_MICROSEC_FORMAT_STR);
+
+std::string TimeMillisecondFormatString(const uint64_t& millisec,
+    const char* format = UT_TIME_MILLISEC_FORMAT_STR);
+
+std::string GetTimeString();
+std::string GetTimeMicrosecondString();
+std::string GetTimeMillisecondString();
+
+class Timer
+{
+public:
+    Timer();
+    ~Timer();
+
+    void Start();
+    void Restart();
+
+    uint64_t Stop();
+
+private:
+    uint64_t mMicrosecond;
+};
+
+}
+}
+
+#endif//__UT_TIME_TOOL_HPP__