From 4007d3e96724295de3a67a03aca50cfea6a3829a Mon Sep 17 00:00:00 2001
From: Francois Bleibel <fbleibel@gmail.com>
Date: Wed, 30 Jun 2010 15:55:22 +0900
Subject: [PATCH] Added 3 tools. Some minor corrections (such as correctly
exporting classes in plugins)
---
include/CMakeLists.txt | 8 +-
include/sot-core/constraint.h | 2 +-
include/sot-core/contiifstream.h | 2 +-
include/sot-core/feature-1d.h | 2 +-
include/sot-core/feature-generic.h | 2 +-
include/sot-core/feature-joint-limits.h | 2 +-
include/sot-core/feature-line-distance.h | 2 +-
include/sot-core/feature-point6d-relative.h | 2 +-
include/sot-core/feature-point6d.h | 2 +-
include/sot-core/feature-task.h | 2 +-
include/sot-core/feature-vector3.h | 2 +-
include/sot-core/feature-visual-point.h | 2 +-
include/sot-core/gain-adaptive.h | 2 +-
include/sot-core/gain-hyperbolic.h | 2 +-
include/sot-core/import-default-paths.h | 8 +
include/sot-core/memory-task-sot.h | 2 +-
include/sot-core/op-point-modifier.h | 2 +-
include/sot-core/periodic-call.h | 94 +++++++
include/sot-core/reader.h | 2 +-
include/sot-core/rotation-simple.h | 2 +-
.../solver-hierarchical-inequalities.h | 2 +-
include/sot-core/sot-h.h | 2 +-
include/sot-core/sot-qr.h | 2 +-
include/sot-core/sot.h | 2 +-
include/sot-core/task-conti.h | 2 +-
include/sot-core/task-pd.h | 2 +-
include/sot-core/task-unilateral.h | 2 +-
include/sot-core/task.h | 2 +-
include/sot-core/time-stamp.h | 117 +++++++++
include/sot-core/timer.h | 198 ++++++++++++++
include/sot-core/utils-windows.h | 4 +-
include/sot-core/weighted-sot.h | 2 +-
src/CMakeLists.txt | 5 +
src/tools/periodic-call.cpp | 243 ++++++++++++++++++
src/tools/time-stamp.cpp | 142 ++++++++++
src/tools/timer.cpp | 103 ++++++++
src/tools/utils-windows.cpp | 46 ++++
37 files changed, 991 insertions(+), 29 deletions(-)
create mode 100644 include/sot-core/import-default-paths.h
create mode 100644 include/sot-core/periodic-call.h
create mode 100644 include/sot-core/time-stamp.h
create mode 100644 include/sot-core/timer.h
create mode 100644 src/tools/periodic-call.cpp
create mode 100644 src/tools/time-stamp.cpp
create mode 100644 src/tools/timer.cpp
create mode 100644 src/tools/utils-windows.cpp
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index b2e48559..66ca7fac 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -88,8 +88,14 @@ rotation-simple.h
weighted-sot.h
solver-hierarchical-inequalities.h
-#reader
+#traces
reader.h
+
+#tools
+periodic-call.h
+utils-windows.h
+time-stamp.h
+timer.h
)
# Recreate correct path for the headers
diff --git a/include/sot-core/constraint.h b/include/sot-core/constraint.h
index 8fd216d4..ffb1c94f 100644
--- a/include/sot-core/constraint.h
+++ b/include/sot-core/constraint.h
@@ -46,7 +46,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (Constraint_EXPORTS)
+# if defined (constraint_EXPORTS)
# define SOTCONSTRAINT_EXPORT __declspec(dllexport)
# else
# define SOTCONSTRAINT_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/contiifstream.h b/include/sot-core/contiifstream.h
index 87246de5..67e57814 100644
--- a/include/sot-core/contiifstream.h
+++ b/include/sot-core/contiifstream.h
@@ -44,7 +44,7 @@
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (Contiifstream_EXPORTS)
+# if defined (contiifstream_EXPORTS)
# define SOTCONTIIFSTREAM_EXPORT __declspec(dllexport)
# else
# define SOTCONTIIFSTREAM_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/feature-1d.h b/include/sot-core/feature-1d.h
index 1d8e54b4..182af621 100644
--- a/include/sot-core/feature-1d.h
+++ b/include/sot-core/feature-1d.h
@@ -34,7 +34,7 @@
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotFeature1D_EXPORTS)
+# if defined (feature_1d_EXPORTS)
# define SOTFEATURE1D_EXPORT __declspec(dllexport)
# else
# define SOTFEATURE1D_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/feature-generic.h b/include/sot-core/feature-generic.h
index dde64b54..5753917f 100644
--- a/include/sot-core/feature-generic.h
+++ b/include/sot-core/feature-generic.h
@@ -34,7 +34,7 @@
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotFeatureGeneric_EXPORTS)
+# if defined (feature_generic_EXPORTS)
# define SOTFEATUREGENERIC_EXPORT __declspec(dllexport)
# else
# define SOTFEATUREGENERIC_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/feature-joint-limits.h b/include/sot-core/feature-joint-limits.h
index d9f589c3..1424560f 100644
--- a/include/sot-core/feature-joint-limits.h
+++ b/include/sot-core/feature-joint-limits.h
@@ -34,7 +34,7 @@
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotFeatureJointLimits_EXPORTS)
+# if defined (feature_joint_limits_EXPORTS)
# define SOTFEATUREJOINTLIMITS_EXPORT __declspec(dllexport)
# else
# define SOTFEATUREJOINTLIMITS_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/feature-line-distance.h b/include/sot-core/feature-line-distance.h
index 9dee937e..2b324c13 100644
--- a/include/sot-core/feature-line-distance.h
+++ b/include/sot-core/feature-line-distance.h
@@ -35,7 +35,7 @@
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotFeatureLineDistance_EXPORTS)
+# if defined (feature_line_distance_EXPORTS)
# define SOTFEATURELINEDISTANCE_EXPORT __declspec(dllexport)
# else
# define SOTFEATURELINEDISTANCE_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/feature-point6d-relative.h b/include/sot-core/feature-point6d-relative.h
index 21d277d7..faa5fba8 100644
--- a/include/sot-core/feature-point6d-relative.h
+++ b/include/sot-core/feature-point6d-relative.h
@@ -36,7 +36,7 @@
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotFeaturePoint6dRelative_EXPORTS)
+# if defined (feature_point_6d_relative_EXPORTS)
# define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllexport)
# else
# define SOTFEATUREPOINT6DRELATIVE_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/feature-point6d.h b/include/sot-core/feature-point6d.h
index 4c4f46a6..97cfd6fa 100644
--- a/include/sot-core/feature-point6d.h
+++ b/include/sot-core/feature-point6d.h
@@ -35,7 +35,7 @@
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotFeaturePoint6d_EXPORTS)
+# if defined (feature_point_6d_EXPORTS)
# define SOTFEATUREPOINT6D_EXPORT __declspec(dllexport)
# else
# define SOTFEATUREPOINT6D_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/feature-task.h b/include/sot-core/feature-task.h
index f567ccd7..132a17cf 100644
--- a/include/sot-core/feature-task.h
+++ b/include/sot-core/feature-task.h
@@ -35,7 +35,7 @@
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotFeatureTask_EXPORTS)
+# if defined (feature_task_EXPORTS)
# define SOTFEATURETASK_EXPORT __declspec(dllexport)
# else
# define SOTFEATURETASK_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/feature-vector3.h b/include/sot-core/feature-vector3.h
index 87711b25..b72930fe 100644
--- a/include/sot-core/feature-vector3.h
+++ b/include/sot-core/feature-vector3.h
@@ -35,7 +35,7 @@
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotFeatureVector3_EXPORTS)
+# if defined (feature_vector3_EXPORTS)
# define SOTFEATUREVECTOR3_EXPORT __declspec(dllexport)
# else
# define SOTFEATUREVECTOR3_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/feature-visual-point.h b/include/sot-core/feature-visual-point.h
index 5ebf6d98..52c8b8c5 100644
--- a/include/sot-core/feature-visual-point.h
+++ b/include/sot-core/feature-visual-point.h
@@ -34,7 +34,7 @@
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotFeatureVisualPoint_EXPORTS)
+# if defined (feature_visual_point_EXPORTS)
# define SOTFEATUREVISUALPOINT_EXPORT __declspec(dllexport)
# else
# define SOTFEATUREVISUALPOINT_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/gain-adaptive.h b/include/sot-core/gain-adaptive.h
index 50e27df5..31892939 100644
--- a/include/sot-core/gain-adaptive.h
+++ b/include/sot-core/gain-adaptive.h
@@ -39,7 +39,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotGainAdaptive_EXPORTS)
+# if defined (gain_adaptive_EXPORTS)
# define SOTGAINADAPTATIVE_EXPORT __declspec(dllexport)
# else
# define SOTGAINADAPTATIVE_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/gain-hyperbolic.h b/include/sot-core/gain-hyperbolic.h
index 80d7bb2a..43311796 100644
--- a/include/sot-core/gain-hyperbolic.h
+++ b/include/sot-core/gain-hyperbolic.h
@@ -40,7 +40,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotGainHyperbolic_EXPORTS)
+# if defined (gain_hyperbolic_EXPORTS)
# define SOTGAINHYPERBOLIC_EXPORT __declspec(dllexport)
# else
# define SOTGAINHYPERBOLIC_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/import-default-paths.h b/include/sot-core/import-default-paths.h
new file mode 100644
index 00000000..d0495ae6
--- /dev/null
+++ b/include/sot-core/import-default-paths.h
@@ -0,0 +1,8 @@
+// -*- c++ -*-
+#ifndef SOT_FACTORY_COMMAND_IMPORT_DEFAULT_PATHS_H
+# define SOT_FACTORY_COMMAND_IMPORT_DEFAULT_PATHS_H
+
+/// Default script path as known by CMake at configure time.
+# define SOT_IMPORT_DEFAULT_PATHS "/home/blue/sot-lib/script"
+
+#endif //! SOT_FACTORY_COMMAND_IMPORT_DEFAULT_PATHS_H
diff --git a/include/sot-core/memory-task-sot.h b/include/sot-core/memory-task-sot.h
index b46cece8..6a494ee1 100644
--- a/include/sot-core/memory-task-sot.h
+++ b/include/sot-core/memory-task-sot.h
@@ -30,7 +30,7 @@
#ifndef SOTSOT_CORE_EXPORT
# if defined (WIN32)
-# if defined (sotSOT_CORE_EXPORTS)
+# if defined (sot_core_EXPORTS)
# define SOTSOT_CORE_EXPORT __declspec(dllexport)
# else
# define SOTSOT_CORE_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/op-point-modifier.h b/include/sot-core/op-point-modifier.h
index 38a07b10..797ada48 100644
--- a/include/sot-core/op-point-modifier.h
+++ b/include/sot-core/op-point-modifier.h
@@ -34,7 +34,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (OpPointModifier_EXPORTS)
+# if defined (op_point_modifier_EXPORTS)
# define SOTOPPOINTMODIFIER_EXPORT __declspec(dllexport)
# else
# define SOTOPPOINTMODIFIER_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/periodic-call.h b/include/sot-core/periodic-call.h
new file mode 100644
index 00000000..5c459ade
--- /dev/null
+++ b/include/sot-core/periodic-call.h
@@ -0,0 +1,94 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: PeriodicCall.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+#ifndef __SOT_PERIODICCALL_HH__
+#define __SOT_PERIODICCALL_HH__
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+/* SOT */
+#include <dynamic-graph/signal-base.h>
+#include <sot-core/sot-core-api.h>
+/* STD */
+#include <list>
+#include <map>
+#include <string>
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+namespace sot {
+
+/*!
+ \class PeriodicCall
+*/
+class SOT_CORE_EXPORT PeriodicCall
+{
+ protected:
+ typedef std::map< std::string,dynamicgraph::SignalBase<int>* > SignalMapType;
+ SignalMapType signalMap;
+
+ typedef std::list< std::string > CmdListType;
+ CmdListType cmdList;
+
+ int innerTime;
+
+ /* --- FUNCTIONS ------------------------------------------------------------ */
+ public:
+ PeriodicCall( void );
+ virtual ~PeriodicCall( void ) {}
+
+ void addSignal( const std::string &name, dynamicgraph::SignalBase<int>& sig );
+ void addSignal( std::istringstream& args );
+ void rmSignal( const std::string &name );
+ void rmSignal( std::istringstream& args );
+
+ void addCmd( std::istringstream& args );
+ void rmCmd( std::istringstream& args );
+
+ void runSignals( const int& t );
+ void runCmds( void );
+ void run( const int& t );
+
+ void clear( void ) { signalMap.clear(); cmdList.clear(); }
+
+ void display( std::ostream& os ) const;
+ bool commandLine( const std::string& cmdLine,
+ std::istringstream& cmdArgs,
+ std::ostream& os );
+};
+
+
+
+} // namespace sot
+
+
+
+#endif // #ifndef __SOT_PERIODICCALL_HH__
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
diff --git a/include/sot-core/reader.h b/include/sot-core/reader.h
index fdf0db93..03260163 100644
--- a/include/sot-core/reader.h
+++ b/include/sot-core/reader.h
@@ -50,7 +50,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotReader_EXPORTS)
+# if defined (reader_EXPORTS)
# define SOTREADER_EXPORT __declspec(dllexport)
# else
# define SOTREADER_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/rotation-simple.h b/include/sot-core/rotation-simple.h
index 92aa754d..023e717c 100644
--- a/include/sot-core/rotation-simple.h
+++ b/include/sot-core/rotation-simple.h
@@ -18,7 +18,7 @@
#ifndef SOTSOTH_EXPORT
# if defined (WIN32)
-# if defined (sotSOTH_EXPORTS)
+# if defined (sot_h_EXPORTS)
# define SOTSOTH_EXPORT __declspec(dllexport)
# else
# define SOTSOTH_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/solver-hierarchical-inequalities.h b/include/sot-core/solver-hierarchical-inequalities.h
index 3417c66e..b141a88c 100644
--- a/include/sot-core/solver-hierarchical-inequalities.h
+++ b/include/sot-core/solver-hierarchical-inequalities.h
@@ -39,7 +39,7 @@
#ifndef SOTSOTH_EXPORT
# if defined (WIN32)
-# if defined (sotSOTH_EXPORTS)
+# if defined (sot_h_EXPORTS)
# define SOTSOTH_EXPORT __declspec(dllexport)
# else
# define SOTSOTH_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/sot-h.h b/include/sot-core/sot-h.h
index 69e36fcd..fc3957d5 100644
--- a/include/sot-core/sot-h.h
+++ b/include/sot-core/sot-h.h
@@ -36,7 +36,7 @@
#ifndef SOTSOTH_EXPORT
# if defined (WIN32)
-# if defined (sotSOTH_EXPORTS)
+# if defined (sot_h_EXPORTS)
# define SOTSOTH_EXPORT __declspec(dllexport)
# else
# define SOTSOTH_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/sot-qr.h b/include/sot-core/sot-qr.h
index 7cdba61c..52d025ac 100644
--- a/include/sot-core/sot-qr.h
+++ b/include/sot-core/sot-qr.h
@@ -44,7 +44,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotSOTQr_EXPORTS)
+# if defined (sot_qr_EXPORTS)
# define SOTSOTQR_EXPORT __declspec(dllexport)
# else
# define SOTSOTQR_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/sot.h b/include/sot-core/sot.h
index 5abee9f2..f78c23c3 100644
--- a/include/sot-core/sot.h
+++ b/include/sot-core/sot.h
@@ -45,7 +45,7 @@ namespace ml = maal::boost;
#ifndef SOTSOT_CORE_EXPORT
# if defined (WIN32)
-# if defined (sotSOT_CORE_EXPORTS)
+# if defined (sot_EXPORTS)
# define SOTSOT_CORE_EXPORT __declspec(dllexport)
# else
# define SOTSOT_CORE_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/task-conti.h b/include/sot-core/task-conti.h
index b3e351bb..4c651df5 100644
--- a/include/sot-core/task-conti.h
+++ b/include/sot-core/task-conti.h
@@ -45,7 +45,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotTaskConti_EXPORTS)
+# if defined (task_conti_EXPORTS)
# define SOTTASKCONTI_EXPORT __declspec(dllexport)
# else
# define SOTTASKCONTI_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/task-pd.h b/include/sot-core/task-pd.h
index 0eb2301d..271703da 100644
--- a/include/sot-core/task-pd.h
+++ b/include/sot-core/task-pd.h
@@ -35,7 +35,7 @@
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotTaskPD_EXPORTS)
+# if defined (task_pd_EXPORTS)
# define SOTTASKPD_EXPORT __declspec(dllexport)
# else
# define SOTTASKPD_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/task-unilateral.h b/include/sot-core/task-unilateral.h
index 0d09ae82..df5696cd 100644
--- a/include/sot-core/task-unilateral.h
+++ b/include/sot-core/task-unilateral.h
@@ -47,7 +47,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotTaskUnilateral_EXPORTS)
+# if defined (task_unilateral_EXPORTS)
# define SOTTASKUNILATERAL_EXPORT __declspec(dllexport)
# else
# define SOTTASKUNILATERAL_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/task.h b/include/sot-core/task.h
index 72f123f8..c348dc3b 100644
--- a/include/sot-core/task.h
+++ b/include/sot-core/task.h
@@ -47,7 +47,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotTask_EXPORTS)
+# if defined task_EXPORTS)
# define SOTTASK_EXPORT __declspec(dllexport)
# else
# define SOTTASK_EXPORT __declspec(dllimport)
diff --git a/include/sot-core/time-stamp.h b/include/sot-core/time-stamp.h
new file mode 100644
index 00000000..d9e34931
--- /dev/null
+++ b/include/sot-core/time-stamp.h
@@ -0,0 +1,117 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: TimeStamp.h
+ * Project: SOT
+ * Author: Paul Evrard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+#ifndef __SOT_TIME_STAMP__HH
+#define __SOT_TIME_STAMP__HH
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+/* Matrix */
+#include <MatrixAbstractLayer/boost.h>
+namespace ml = maal::boost;
+
+/* Classes standards. */
+#ifndef WIN32
+#include <sys/time.h>
+#else /*WIN32*/
+#include <Winsock2.h>
+#include <sot/utils-windows.h>
+#endif /*WIN32*/
+
+/* SOT */
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/all-signals.h>
+#include <sot-core/debug.h>
+
+/* --------------------------------------------------------------------- */
+/* --- API ------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+#if defined (WIN32)
+# if defined (TimeStamp_EXPORTS)
+# define TimeStamp_EXPORT __declspec(dllexport)
+# else
+# define TimeStamp_EXPORT __declspec(dllimport)
+# endif
+#else
+# define TimeStamp_EXPORT
+#endif
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+namespace sot {
+namespace dg = dynamicgraph;
+
+class TimeStamp_EXPORT TimeStamp
+:public dg::Entity
+{
+ public:
+ static const std::string CLASS_NAME;
+ virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
+
+ protected:
+
+ struct timeval val;
+ unsigned int offsetValue;
+ bool offsetSet;
+
+ public:
+
+ /* --- CONSTRUCTION --- */
+ TimeStamp( const std::string& name );
+
+ public: /* --- DISPLAY --- */
+ virtual void display( std::ostream& os ) const;
+
+ public: /* --- SIGNALS --- */
+
+ /* These signals can be called several time per period, given
+ * each time a different results. Useful for chronos. */
+ dg::Signal<ml::Vector,int> timeSOUT;
+ dg::Signal<double,int> timeDoubleSOUT;
+
+ /* These signals can be called several time per period, but give
+ * always the same results different results. Useful for synchro. */
+ dg::SignalTimeDependent<ml::Vector,int> timeOnceSOUT;
+ dg::SignalTimeDependent<double,int> timeOnceDoubleSOUT;
+
+
+ protected: /* --- SIGNAL FUNCTIONS --- */
+ ml::Vector& getTimeStamp( ml::Vector& res,const int& time );
+ double& getTimeStampDouble( const ml::Vector& vect,double& res );
+
+ public: /* --- COMMANDS --- */
+ virtual void commandLine( const std::string& cmdLine,
+ std::istringstream& cmdArgs,
+ std::ostream& os );
+
+};
+
+
+} // namespace sot
+
+
+#endif /* #ifndef __SOT_SOT_HH */
diff --git a/include/sot-core/timer.h b/include/sot-core/timer.h
new file mode 100644
index 00000000..bb79fc9e
--- /dev/null
+++ b/include/sot-core/timer.h
@@ -0,0 +1,198 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: Timer.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+#ifndef __SOT_TIMER_HH
+#define __SOT_TIMER_HH
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* Classes standards. */
+#include <list> /* Classe std::list */
+#ifndef WIN32
+#include <sys/time.h>
+#else /*WIN32*/
+// When including Winsock2.h, the MAL must be included first
+#include <MatrixAbstractLayer/boost.h>
+#include <sot-core/utils-windows.h>
+#include <Winsock2.h>
+#endif /*WIN32*/
+
+/* SOT */
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/all-signals.h>
+#include <sot-core/debug.h>
+#include <dynamic-graph/interpreter.h>
+
+/* --------------------------------------------------------------------- */
+/* --- API ------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+#if defined (WIN32)
+# if defined (timer_EXPORTS)
+# define Timer_EXPORT __declspec(dllexport)
+# else
+# define Timer_EXPORT __declspec(dllimport)
+# endif
+#else
+# define Timer_EXPORT
+#endif
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+namespace dg = dynamicgraph;
+
+template< class T >
+class Timer_EXPORT Timer
+:public dg::Entity
+{
+ public:
+ static const std::string CLASS_NAME;
+ virtual const std::string& getClassName( void ) const { return CLASS_NAME; }
+
+ protected:
+
+ struct timeval t0,t1;
+ double dt;
+
+ public:
+
+ /* --- CONSTRUCTION --- */
+ Timer( const std::string& name );
+
+ public: /* --- DISPLAY --- */
+ virtual void display( std::ostream& os ) const;
+ Timer_EXPORT friend std::ostream& operator<< ( std::ostream& os,const Timer<T>& timer )
+ { timer.display(os); return os; }
+
+ public: /* --- SIGNALS --- */
+
+ dg::SignalPtr<T,int> sigSIN;
+ dg::SignalTimeDependent<T,int> sigSOUT;
+ dg::Signal<double,int> timerSOUT;
+
+
+ protected: /* --- SIGNAL FUNCTIONS --- */
+ void plug( dg::Signal<T,int> &sig )
+ {
+ sigSIN = &sig; dt=0.;
+ }
+
+ T& compute( T& t,const int& time )
+ {
+ sotDEBUGIN(15);
+ gettimeofday(&t0,NULL);
+ sotDEBUG(15) << "t0: "<< t0.tv_sec << " - " << t0.tv_usec << std::endl;
+
+ t = sigSIN( time );
+
+ gettimeofday(&t1,NULL);
+ dt = ( (t1.tv_sec-t0.tv_sec) * 1000.
+ + (t1.tv_usec-t0.tv_usec+0.) / 1000. );
+ sotDEBUG(15) << "t1: "<< t1.tv_sec << " - " << t1.tv_usec << std::endl;
+
+ timerSOUT = dt;
+
+ sotDEBUGOUT(15);
+ return t;
+ }
+
+ double& getDt( double& res,const int& time )
+ {
+ res=dt;
+ return res;
+ }
+
+
+ public: /* --- COMMANDS --- */
+ virtual void commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
+ std::ostream& os );
+
+
+};
+
+void cmdChrono( const std::string& cmd,
+ std::istringstream& args,
+ std::ostream& os );
+
+
+
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+/* --- CONSTRUCTION ---------------------------------------------------- */
+template< class T >
+Timer<T>::
+Timer( const std::string& name )
+ :Entity(name)
+ ,t0(),t1()
+ ,dt(0.)
+ ,sigSIN( NULL,"Timer("+name+")::output(T)::in" )
+ ,sigSOUT( boost::bind(&Timer::compute,this,_1,_2),
+ sigSIN,
+ "Timer("+name+")::output(T)::out" )
+ ,timerSOUT( "Timer("+name+")::output(double)::timer" )
+{
+ sotDEBUGIN(15);
+ timerSOUT.setFunction( boost::bind(&Timer::getDt,this,_1,_2) );
+
+ signalRegistration( sigSIN<<sigSOUT<<timerSOUT );
+ sotDEBUGOUT(15);
+}
+
+/* --- DISPLAY --------------------------------------------------------- */
+template< class T >
+void Timer<T>::
+display( std::ostream& os ) const
+{
+ os << "Timer <"<< sigSIN << "> : " << dt << "ms." << std::endl;
+}
+/* --- COMMAND --------------------------------------------------------- */
+template< class T >
+void Timer<T>::
+commandLine( const std::string& cmdLine,std::istringstream& cmdArgs,
+ std::ostream& os )
+{
+ sotDEBUGIN(15);
+
+ if( cmdLine == "help")
+ {
+ os << "Timer: "<<std::endl;
+ Entity::commandLine( cmdLine,cmdArgs,os );
+ }
+ else
+ Entity::commandLine( cmdLine,cmdArgs,os );
+
+
+ sotDEBUGOUT(15);
+}
+
+
+
+#endif /* #ifndef __SOT_SOT_HH */
+
+
+
+
diff --git a/include/sot-core/utils-windows.h b/include/sot-core/utils-windows.h
index 7a70dbaf..8f55e8ce 100644
--- a/include/sot-core/utils-windows.h
+++ b/include/sot-core/utils-windows.h
@@ -14,13 +14,13 @@
#include < time.h >
-struct SOT_EXPORT timezone
+struct SOT_CORE_EXPORT timezone
{
int tz_minuteswest; /* minutes W of Greenwich */
int tz_dsttime; /* type of dst correction */
};
-int SOT_EXPORT gettimeofday(struct timeval *tv, struct timezone *tz);
+int SOT_CORE_EXPORT gettimeofday(struct timeval *tv, struct timezone *tz);
#endif /*WIN32*/
diff --git a/include/sot-core/weighted-sot.h b/include/sot-core/weighted-sot.h
index 016f3222..e1a298be 100644
--- a/include/sot-core/weighted-sot.h
+++ b/include/sot-core/weighted-sot.h
@@ -41,7 +41,7 @@ namespace ml = maal::boost;
/* --------------------------------------------------------------------- */
#if defined (WIN32)
-# if defined (sotWeightedSOT_CORE_EXPORTS)
+# if defined (weighted_sot_EXPORTS)
# define SOTWEIGHTEDSOT_CORE_EXPORT __declspec(dllexport)
# else
# define SOTWEIGHTEDSOT_CORE_EXPORT __declspec(dllimport)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index af8fc920..3f511784 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -82,6 +82,11 @@ SET(plugins
feature/feature-line-distance
traces/reader
+
+ tools/utils-windows
+ tools/periodic-call
+ tools/time-stamp
+ tools//timer
)
#Build sot-core
diff --git a/src/tools/periodic-call.cpp b/src/tools/periodic-call.cpp
new file mode 100644
index 00000000..dc180f17
--- /dev/null
+++ b/src/tools/periodic-call.cpp
@@ -0,0 +1,243 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: PeriodicCall.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* --- SOT --- */
+#include <sot-core/periodic-call.h>
+#include <dynamic-graph/pool.h>
+#include <dynamic-graph/interpreter.h>
+#include <sot-core/debug.h>
+
+using namespace std;
+using namespace dynamicgraph;
+using namespace sot;
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+
+PeriodicCall::
+PeriodicCall( void )
+ : signalMap()
+ ,cmdList()
+ ,innerTime( 0 )
+{
+
+}
+
+
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+void PeriodicCall::
+addSignal( const std::string &name, SignalBase<int>& sig )
+{
+ signalMap[ name ] = &sig;
+ return ;
+}
+
+void PeriodicCall::
+addSignal( istringstream& args )
+{
+ string signalName; args >> signalName;
+ istringstream sigISS( signalName );
+ SignalBase<int>& signal = g_pool .getSignal( sigISS );
+ addSignal( signalName,signal );
+ return ;
+}
+
+void PeriodicCall::
+rmSignal( const std::string &name )
+{
+ signalMap.erase( name );
+ return ;
+}
+
+void PeriodicCall::
+rmSignal( istringstream& args )
+{
+ string signalName; args >> signalName;
+ rmSignal( signalName );
+ return ;
+}
+
+
+
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+void PeriodicCall::
+addCmd( istringstream& args )
+{
+ stringbuf* pbuf=args.rdbuf();
+ const unsigned int size = pbuf->in_avail();
+ char *buffer = new char[ size+1 ];
+ pbuf->sgetn( buffer,size );
+
+ buffer[size]='\0';
+ cmdList.push_back( buffer );
+
+ delete buffer;
+ return ;
+}
+
+void PeriodicCall::
+rmCmd( istringstream& args )
+{
+ stringbuf* pbuf=args.rdbuf();
+ const unsigned int size = pbuf->in_avail();
+ char * buffer = new char [size+1];
+ pbuf->sgetn( buffer,size );
+ buffer[size]='\0';
+
+ CmdListType::iterator iter = cmdList.begin();
+ while( cmdList.end()!=iter )
+ {
+ const string& str = *iter;
+ if( 0==str.compare( 0,size,buffer ) )
+ { iter = cmdList.erase( iter ); }
+ else { ++iter; }
+ //cout<<str << " <=> " << buffer << ": " << str.compare( 0,size,buffer )<<endl;
+ }
+
+ delete buffer;
+ return ;
+}
+
+
+
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+void PeriodicCall::
+runSignals( const int& t )
+{
+ for( SignalMapType::iterator iter = signalMap.begin();
+ signalMap.end()!=iter; ++iter )
+ {
+ (*iter).second ->recompute( t );
+ }
+ return ;
+}
+
+void PeriodicCall::
+runCmds( void )
+{
+ ostringstream onull; onull.clear( ios::failbit );
+
+ for( CmdListType::const_iterator iter = cmdList.begin();
+ cmdList.end()!=iter; ++iter )
+ {
+ istringstream iss( *iter );
+ string cmdName; iss >> cmdName;
+ g_shell.cmd( cmdName,iss,onull );
+ }
+ return ;
+}
+
+ void PeriodicCall::
+run( const int & t )
+{
+ runSignals( t ); runCmds();
+ return ;
+}
+
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+void PeriodicCall::
+display( std::ostream& os ) const
+{
+
+
+ os <<" (t=" << innerTime << ")" <<endl;
+
+ os<<" -> SIGNALS:"<<endl;
+ for( SignalMapType::const_iterator iter = signalMap.begin();
+ signalMap.end()!=iter; ++iter )
+ {
+ os << " - " << (*iter).first << endl;
+ }
+
+ os<<" -> CMDS:"<<endl;
+ for( CmdListType::const_iterator iter = cmdList.begin();
+ cmdList.end()!=iter; ++iter )
+ {
+ os << " - " << (*iter) << endl;
+ }
+
+}
+
+
+
+
+bool PeriodicCall::
+commandLine( const std::string& cmdLine,
+ std::istringstream& cmdArgs,
+ std::ostream& os )
+{
+ if( cmdLine == "help" )
+ {
+ os << "PeriodicCall:"<<endl
+ <<" - addSignal/rmSignal <int> " <<endl
+ <<" - addCmd/rmCmd " <<endl
+ <<" - runSignal/runCmd " <<endl
+ <<" - run" <<endl
+ <<" - setTime t " << endl;
+ }
+ else if( cmdLine == "addSignal" )
+ { addSignal( cmdArgs ); }
+ else if( cmdLine == "rmSignal" )
+ { rmSignal( cmdArgs ); }
+ else if( cmdLine == "runSignals" )
+ { runSignals( innerTime++ ); }
+
+ else if( cmdLine == "addCmd" )
+ { addCmd( cmdArgs ); }
+ else if( cmdLine == "rmCmd" )
+ { rmCmd( cmdArgs ); }
+ else if( cmdLine == "runCmds" )
+ { runCmds(); }
+
+ else if( cmdLine == "run" )
+ { run( innerTime++ ); }
+ else if( cmdLine == "clear" )
+ { clear(); }
+ else if( cmdLine == "print" )
+ { display(os) ; }
+ else { return false; }
+ return true;
+}
+
+
+
+/*
+ * Local variables:
+ * c-basic-offset: 2
+ * End:
+ */
+
diff --git a/src/tools/time-stamp.cpp b/src/tools/time-stamp.cpp
new file mode 100644
index 00000000..9dd5bccd
--- /dev/null
+++ b/src/tools/time-stamp.cpp
@@ -0,0 +1,142 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: TimeStamp.cpp
+ * Project: SOT
+ * Author: Paul Evrard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* SOT */
+#include <sot-core/time-stamp.h>
+#include <sot-core/matrix-homogeneous.h>
+#include <dynamic-graph/factory.h>
+#include <sot-core/macros-signal.h>
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+using namespace dynamicgraph;
+using namespace sot;
+
+DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(TimeStamp,"TimeStamp");
+
+
+/* --- CONSTRUCTION ---------------------------------------------------- */
+TimeStamp::
+TimeStamp( const std::string& name )
+ :Entity(name)
+ ,offsetValue( 0 ),offsetSet(false)
+ ,timeSOUT( "TimeStamp("+name+")::output(vector2)::time" )
+ ,timeDoubleSOUT( "TimeStamp("+name+")::output(double)::timeDouble" )
+ ,timeOnceSOUT( boost::bind(&TimeStamp::getTimeStamp,this,_1,_2),
+ sotNOSIGNAL,
+ "TimeStamp("+name+")::output(vector2)::synchro" )
+ ,timeOnceDoubleSOUT( boost::bind(&TimeStamp::getTimeStampDouble,this,
+ SOT_CALL_SIG(timeSOUT,ml::Vector),_1),
+ timeSOUT,
+ "TimeStamp("+name+")::output(double)::synchroDouble" )
+{
+ sotDEBUGIN(15);
+
+ timeSOUT.setFunction( boost::bind(&TimeStamp::getTimeStamp,this,_1,_2) );
+ timeDoubleSOUT.setFunction( boost::bind(&TimeStamp::getTimeStampDouble,this,
+ SOT_CALL_SIG(timeSOUT,ml::Vector),_1) );
+ timeOnceSOUT.setNeedUpdateFromAllChildren( true );
+ timeOnceDoubleSOUT.setNeedUpdateFromAllChildren( true );
+ signalRegistration( timeSOUT << timeDoubleSOUT
+ << timeOnceSOUT << timeOnceDoubleSOUT );
+
+ gettimeofday( &val,NULL );
+
+ sotDEBUGOUT(15);
+}
+
+/* --- DISPLAY --------------------------------------------------------- */
+void TimeStamp::
+display( std::ostream& os ) const
+{
+ os << "TimeStamp <> : " << val.tv_sec << "s; "
+ << val.tv_usec << "us." << std::endl;
+}
+
+/* --------------------------------------------------------------------- */
+/* --- CONTROL --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+ml::Vector& TimeStamp::
+getTimeStamp( ml::Vector& res,const int& time )
+{
+ sotDEBUGIN(15);
+ gettimeofday( &val,NULL );
+ if( res.size()!=2 ) res.resize(2);
+
+
+ res(0) = val.tv_sec;
+ res(1) = val.tv_usec;
+ sotDEBUGOUT(15);
+ return res;
+}
+
+double& TimeStamp::
+getTimeStampDouble( const ml::Vector& vect,double& res )
+{
+ sotDEBUGIN(15);
+
+ if( offsetSet ) res = (vect(0)-offsetValue)*1000;
+ else res = vect(0)*1000;
+ res += vect(1)/1000;
+ sotDEBUGOUT(15);
+ return res;
+}
+
+
+void TimeStamp::
+commandLine( const std::string& cmdLine,
+ std::istringstream& cmdArgs,
+ std::ostream& os )
+{
+ if( cmdLine=="help" )
+ {
+ os << "TimeStamp: "<<std::endl
+ << " - offset [{<value>|now}] : set/get the offset for double sig." << std::endl;
+ Entity::commandLine( cmdLine,cmdArgs,os );
+ }
+ else if( cmdLine=="offset" )
+ {
+ cmdArgs >> std::ws;
+ if( cmdArgs.good() )
+ {
+ std::string offnow;
+ cmdArgs >> offnow;
+ if(offnow=="now")
+ {
+ gettimeofday( &val,NULL );
+ offsetValue = val.tv_sec;
+ }
+ else { offsetValue = atoi(offnow.c_str()); }
+ offsetSet = ( offsetValue>0 );
+ } else {
+ os << "offset = " << (offsetSet ? offsetValue : 0) << std::endl;
+ }
+ }
+ else { Entity::commandLine( cmdLine,cmdArgs,os ); }
+}
+
+
diff --git a/src/tools/timer.cpp b/src/tools/timer.cpp
new file mode 100644
index 00000000..2e4e23ba
--- /dev/null
+++ b/src/tools/timer.cpp
@@ -0,0 +1,103 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: Timer.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* SOT */
+#include <sot-core/timer.h>
+#include <MatrixAbstractLayer/boost.h>
+#include <sot-core/matrix-homogeneous.h>
+#include <sot-core/factory.h>
+
+using namespace sot;
+using namespace dynamicgraph;
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+typedef Timer<maal::boost::Vector> timevect;
+template <>
+DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(timevect,"Timer<Vector>");
+
+typedef Timer<maal::boost::Matrix> timematrix;
+template <>
+DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(timematrix,"Timer<Matrix>");
+
+typedef Timer<MatrixHomogeneous> timematrixhomo;
+template <>
+DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(timematrixhomo,"Timer<MatrixHomo>");
+
+typedef Timer<double> timedouble;
+template <>
+DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(timedouble,"Timer<double>");
+
+
+/* --------------------------------------------------------------------- */
+void
+cmdChrono( const std::string& cmdLine,
+ std::istringstream& cmdArg,
+ std::ostream& os )
+{
+ sotDEBUGIN(15);
+
+ if( cmdLine == "help" )
+ {
+ os << " - chrono <cmd...>"
+ << "\t\t\t\tLaunch <cmd> and display the time spent in the operation." <<std::endl;
+ return;
+ }
+
+ struct timeval t0,t1;
+ double dt;
+
+ gettimeofday(&t0,NULL);
+ sotDEBUG(15) << "t0: "<< t0.tv_sec << " - " << t0.tv_usec << std::endl;
+
+ std::string cmdLine2; cmdArg>>cmdLine2;
+ sotDEBUG(5)<<"Chrono <" <<cmdLine2<<">"<<std::endl;
+ g_shell.cmd(cmdLine2,cmdArg,os);
+
+ gettimeofday(&t1,NULL);
+ dt = ( (t1.tv_sec-t0.tv_sec) * 1000.
+ + (t1.tv_usec-t0.tv_usec+0.) / 1000. );
+ sotDEBUG(15) << "t1: "<< t1.tv_sec << " - " << t1.tv_usec << std::endl;
+
+ os << "Time spent = " << dt << " ms " << std::endl;
+
+ sotDEBUGOUT(15);
+}
+
+
+
+extern "C" {
+ ShellFunctionRegisterer regTimer1
+ ( "chrono",boost::bind(cmdChrono,_1,_2,_3) );
+}
+
+
+/* --------------------------------------------------------------------- */
+/* --- CONTROL --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+
diff --git a/src/tools/utils-windows.cpp b/src/tools/utils-windows.cpp
new file mode 100644
index 00000000..09696262
--- /dev/null
+++ b/src/tools/utils-windows.cpp
@@ -0,0 +1,46 @@
+#ifdef WIN32
+#include <sot-core/utils-windows.h>
+
+#include < Windows.h >
+#if defined(_MSC_VER) || defined(_MSC_EXTENSIONS)
+#define DELTA_EPOCH_IN_MICROSECS 11644473600000000Ui64
+#else
+#define DELTA_EPOCH_IN_MICROSECS 11644473600000000ULL
+#endif
+
+int gettimeofday(struct timeval *tv, struct timezone *tz)
+{
+ FILETIME ft;
+ unsigned __int64 tmpres = 0;
+ static int tzflag;
+
+ if (NULL != tv)
+ {
+ GetSystemTimeAsFileTime(&ft);
+
+ tmpres |= ft.dwHighDateTime;
+ tmpres <<= 32;
+ tmpres |= ft.dwLowDateTime;
+
+ /*converting file time to unix epoch*/
+ tmpres /= 10; /*convert into microseconds*/
+ tmpres -= DELTA_EPOCH_IN_MICROSECS;
+ tv->tv_sec = (long)(tmpres / 1000000UL);
+ tv->tv_usec = (long)(tmpres % 1000000UL);
+ }
+
+ if (NULL != tz)
+ {
+ if (!tzflag)
+ {
+ _tzset();
+ tzflag++;
+ }
+ tz->tz_minuteswest = _timezone / 60;
+ tz->tz_dsttime = _daylight;
+ }
+
+ return 0;
+}
+
+#endif /*WIN32*/
--
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