include/barrett/os.h

/*
        Copyright 2009-2014 Barrett Technology <support@barrett.com>

        This file is part of libbarrett.

        This version of libbarrett is free software: you can redistribute it
        and/or modify it under the terms of the GNU General Public License as
        published by the Free Software Foundation, either version 3 of the
        License, or (at your option) any later version.

        This version of libbarrett is distributed in the hope that it will be
        useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.

        You should have received a copy of the GNU General Public License along
        with this version of libbarrett.  If not, see
        <http://www.gnu.org/licenses/>.

*/

#ifndef BARRETT_OS_H_
#define BARRETT_OS_H_


#include <string>
#include <barrett/detail/os.h>


namespace barrett {

void btsleep(double duration_s);
void btsleepRT(double duration_s);
void btsleep(double duration_s, bool realtime);

double highResolutionSystemTime();

class PeriodicLoopTimer {
public:
        explicit PeriodicLoopTimer(double period_, int threadPriority = 10);

        unsigned long wait();

protected:
        bool firstRun;
        double period;
        double releasePoint;
};


detail::LogFormatter logMessage(const std::string& message,
                bool outputToStderr = false);


}


#endif /* BARRETT_OS_H_ */