/usr/include/SurgSim/Framework/Clock.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_FRAMEWORK_CLOCK_H
#define SURGSIM_FRAMEWORK_CLOCK_H
#include <boost/chrono.hpp>
#include <boost/thread.hpp>
/// \file
/// Place for a simple wrapper around boost
namespace SurgSim
{
namespace Framework
{
/// Wraps around the actual clock we are using.
typedef boost::chrono::high_resolution_clock Clock;
/// A more accurate sleep_until that accounts for scheduler errors
/// \tparam C Clock type
/// \tparam D Duration type
/// \param time The time point in absolute time to sleep until
template <class C, class D>
void sleep_until(const boost::chrono::time_point<C, D>& time)
{
// 2ms gives good results on windows and linux
static const boost::chrono::duration<double> schedulerError(0.002);
boost::chrono::time_point<C, D> earlierTime = time - schedulerError;
if (earlierTime > C::now())
{
boost::this_thread::sleep_until(earlierTime);
}
while (C::now() < time)
{
boost::this_thread::yield();
}
}
}; // Framework
}; // SurgSim
#endif
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