text: /*
   * Copyright (c) 2011-2019, The DART development contributors
   * All rights reserved.
   *
   * The list of contributors can be found at:
   *   https://github.com/dartsim/dart/blob/master/LICENSE
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef DART_COMMON_TIMER_HPP_
  #define DART_COMMON_TIMER_HPP_
  
  #include <string>
  
  #include "dart/math/MathTypes.hpp"
  
  #ifdef _WIN32
  #ifdef NOMINMAX
  #include <windows.h>
  #else
  #define NOMINMAX
  #include <windows.h>
  #undef NOMINMAX
  #endif
  typedef struct
  {
    LARGE_INTEGER start;
    LARGE_INTEGER stop;
  } stopWatch;
  #else
  #include <sys/time.h>
  #endif
  
  namespace dart {
  namespace common {
  
  /// \brief The implementation of Timer class
  ///
  /// This is a definition of mTimer class.
  /// For measure the time, gettimeofday() api is used
  class Timer
  {
  public:
    /// \brief Default constructor
    explicit Timer(const std::string& _name = "Noname Timer");
  
    /// \brief Default destructor
    virtual ~Timer();
  
    /// \brief Start timer
    void start();
  
    /// \brief Returns whether the timer is started
    bool isStarted() const;
  
    /// \brief Stop the timer
    void stop();
  
    /// \brief Return elapsed time in seconds since startTimer()
    /// \see start()
    s_t getElapsedTime();
  
    /// \brief Return last elapsed time in seconds
    s_t getLastElapsedTime() const;
  
    /// \brief Return total elapsed time in seconds
    s_t getTotalElapsedTime() const;
  
    /// \brief Print results
    void print();
  
    /// \brief Return the current time of the system in seconds
    static s_t getWallTime();
  
  private:
    int mCount;
  
  #ifdef _WIN32
    stopWatch mTimer;
  #else
    timeval mTimeVal;
    s_t mStartedTime;
    s_t mStoppedTime;
  #endif
  
    s_t mLastElapsedTime;
    s_t mTotalElapsedTime;
    std::string mName;
    bool mIsStarted;
  
  #ifdef _WIN32
    LARGE_INTEGER mFrequency;
    s_t _convLIToSecs(const LARGE_INTEGER& _L);
  #endif
  };
  
  } // namespace common
  } // namespace dart
  
  #endif // DART_COMMON_TIMER_HPP_
  