Utilities.h

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/***************************************************************
 
 Mini Grand Challenge 2010
 Pennsylvania State University - Robotics Club
 Learn more at www.psurobotics.org
 Protected by the GNU General Public License
 
 This source file is developed and maintained by:
 + Jeremy Bridon jgbridon@gmail.com
 
 File: Utilities.cpp/h
 Desc: Includes system-wide multiplatform generic functions for
 assertions, logging, and system performance.
 
***************************************************************/

// Inclusion guard
#ifndef __UTILITIES_H_
#define __UTILITIES_H_

// Window includes
#ifdef _WIN32
        #include <windows.h>
        #include <gl/gl.h>     // The GL Header File
        #include <gl/glu.h>    // The GL Utilities (GLU) header
        #include "gl/glut.h"   // The GL Utility Toolkit (Glut) Header
        #include "ipc.h"

// OSX includes
#elif __APPLE__
        #include <unistd.h>
        #include <sys/time.h>
        #include <ipc.h>

// Else, linux/unix:
#else
        #include <unistd.h>
        #include <sys/time.h>
        #include <ipc/ipc.h>
        #include <opencv/cv.h>
        #include <opencv/highgui.h>

#endif

// Standard includes for all systems
#include <stdlib.h>
#include <iostream>
#include <fstream>
#include <stdio.h>
#include <string.h>
#include <math.h>

// Disable deprecation
//#define _CRT_SECURE_NO_WARNINGS

using namespace std;

#define Assert(Assertion, FailText) __Assert( (Assertion), (FailText), __FILE__, __LINE__)

// Define PI
#define PI 3.14159265

void __Assert(bool Assertion, const char* FailText, const char* FileName, int LineNumber);

void UtilSleep(float SleepTime);

void UtilGetTime(unsigned int* seconds, unsigned int* milliseconds);

// If Windows version
#if _WIN32

class HighresClock
{
public:
        
        HighresClock()
        {
                // Setup the high-resolution timer
                QueryPerformanceFrequency(&TicksPerSec);
                
                // High-resolution timers, iniitalized timer
                QueryPerformanceCounter(&startTime);
                
                // Start off the timer
                Start(); Stop();
        }
        
        void Stop()
        {
                QueryPerformanceCounter(&endTime);
        }
        
        // In seconds
        float GetTime()
        {
                // Measure the cycle time
                cpuTime.QuadPart = endTime.QuadPart - startTime.QuadPart;
                return (float)cpuTime.QuadPart / (float)TicksPerSec.QuadPart;
        }
        
        void Start()
        {
                QueryPerformanceCounter(&startTime);
        }
        
private:
        LARGE_INTEGER TicksPerSec;
        LARGE_INTEGER startTime, endTime, cpuTime;
};

// UNIX / Linux / OSX interface
#else

class HighresClock
{
public:

        HighresClock()
        {
                // High-resolution timers, iniitalized timer
                gettimeofday(&startTime, NULL);

                // Start off the timer
                Start(); Stop();
        }

        void Stop()
        {
                gettimeofday(&endTime, NULL);
        }

        float GetTime()
        {
                // Measure the cycle time (Convert from micro to milli to seconds)
                // If the end time is one second more than the start time, modify the
                float secondDif = float(endTime.tv_sec - startTime.tv_sec);
                return float(float(endTime.tv_usec) / 1000.0f - float(startTime.tv_usec) / 1000.0f) / 1000.0f + secondDif;
        }

        void Start()
        {
                gettimeofday(&startTime, NULL);
        }

private:
        struct timeval startTime, endTime;
};
        
#endif // End of UNIX version

void itoa(char *dest, int val);

// End of inclusion guard
#endif

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