/home/opennao/work/master/sdk/libqi/qi/clock.hxx

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/*
 * Copyright (c) 2013 Aldebaran Robotics. All rights reserved.
 * Use of this source code is governed by a BSD-style license that can be
 * found in the COPYING file.
 */

#pragma once
#ifndef _QI_CLOCK_HXX_
#define _QI_CLOCK_HXX_

#include <boost/chrono/ceil.hpp>

namespace qi {

  template <class Rep, class Period>
  void sleepFor(const boost::chrono::duration<Rep, Period>& d)
  {
    sleepFor(boost::chrono::ceil<SteadyClock::duration>(d));
  }

  template <class Duration>
  void sleepUntil(const boost::chrono::time_point<SteadyClock, Duration>& t)
  {
    sleepFor(t - SteadyClock::now());
  }

  template <class Duration>
  void sleepUntil(const boost::chrono::time_point<WallClock, Duration>& t)
  {
    sleepFor(t - WallClock::now());
  }

}

namespace boost
{
  namespace chrono
  {
    template <class CharT>
    struct clock_string<qi::SteadyClock, CharT>
    {
      static std::basic_string<CharT> name() {return "qi::steady_clock";}
      static std::basic_string<CharT> since() {
        return clock_string<boost::chrono::steady_clock, CharT>::since();
      }
    };

    template <class CharT>
    struct clock_string<qi::WallClock, CharT>
    {
      static std::basic_string<CharT> name() {return "qi::system_clock";}
      static std::basic_string<CharT> since() {
        return clock_string<boost::chrono::system_clock, CharT>::since();
      }
    };
  }
}

#endif  // _QI_CLOCK_HXX_