Visual Servoing Platform version 3.6.0
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testTime.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See https://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Time management.
33 *
34*****************************************************************************/
35
43#include <visp3/core/vpConfig.h>
44#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
45#include <unistd.h>
46#elif defined(_WIN32)
47// #include <mmsystem.h>
48// #include <winbase.h>
49#include <windows.h>
50#endif
51#include <cmath>
52#include <iostream>
53#include <stdio.h>
54#include <stdlib.h>
55#include <time.h>
56
57#include <visp3/core/vpTime.h>
58
59int main()
60{
61#if !defined(WINRT)
62 try {
63 double v = 0;
64
65 double t0 = vpTime::measureTimeMs();
66 for (int i = 0; i < 100000; i++)
67 for (int j = 0; j < 100; j++)
68 v = i * 2 / 3. + j;
69 std::cout << "Computed dummy value: " << v << std::endl;
70
71 double t1 = vpTime::measureTimeMs();
72 vpTime::wait(t1, 40);
73
74 double t2 = vpTime::measureTimeMs();
75
76// Sleep 10ms
77#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
78 usleep(10 * 1000);
79#elif defined(_WIN32)
80 Sleep(10);
81#endif
82
83 double t3 = vpTime::measureTimeMs();
84
85// Sleep 2ms
86#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
87 usleep(2 * 1000);
88#elif defined(_WIN32)
89 Sleep(2);
90#endif
91 double t4 = vpTime::measureTimeMs();
92
93 vpTime::wait(t4, 19);
94
95 double t5 = vpTime::measureTimeMs();
96
97 vpTime::wait(5);
98
99 vpChrono chrono;
100 chrono.start();
101 double t6 = vpTime::measureTimeMs();
102
103 vpTime::wait(21);
104
105 chrono.stop();
106 chrono.start(false);
107 double t7 = vpTime::measureTimeMs();
108
109 vpTime::wait(2);
110
111 double t8 = vpTime::measureTimeMs();
112 chrono.stop();
113
114 std::cout << "t1-t0: computation time: " << t1 - t0 << std::endl;
115
116 std::cout << "t2-t1: wait(t1, 40 ms): " << t2 - t1 << std::endl;
117 std::cout << "t3-t2: sleep(10 ms): " << t3 - t2 << std::endl;
118 std::cout << "t4-t3: sleep(2 ms): " << t4 - t3 << std::endl;
119 std::cout << "t5-t4: wait(t, 19 ms): " << t5 - t4 << std::endl;
120 std::cout << "t6-t5: wait(5 ms): " << t6 - t5 << std::endl;
121 std::cout << "t7-t6: wait(21 ms): " << t7 - t6 << std::endl;
122 std::cout << "t8-t7: wait(2 ms): " << t8 - t7 << std::endl;
123 std::cout << "t8-t6: ; chrono: " << chrono.getDurationMs() << std::endl;
124
125 return EXIT_SUCCESS;
126 } catch (const vpException &e) {
127 std::cout << "Catch an exception: " << e << std::endl;
128 return EXIT_FAILURE;
129 }
130#else
131 std::cout << "vpTime is not implemented on Universal Windows Platform" << std::endl;
132#endif
133}
void start(bool reset=true)
Definition vpTime.cpp:397
void stop()
Definition vpTime.cpp:412
double getDurationMs()
Definition vpTime.cpp:386
error that can be emitted by ViSP classes.
Definition vpException.h:59
VISP_EXPORT double measureTimeMs()
VISP_EXPORT int wait(double t0, double t)