/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *
 * This library 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 files    *
 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
 *                                                                       *
 *************************************************************************/

#ifndef _ODE_TIMER_H_
#define _ODE_TIMER_H_

#include <gazebo/ode/odeconfig.h>

#ifdef __cplusplus
extern "C" {
#endif


/* stop watch objects */

typedef struct dStopwatch {
  double time;    	/* total clock count */
  unsigned long cc[2];    /* clock count since last `start' */
} dStopwatch;

ODE_API void dStopwatchReset (dStopwatch *);
ODE_API void dStopwatchStart (dStopwatch *);
ODE_API void dStopwatchStop  (dStopwatch *);
ODE_API double dStopwatchTime (dStopwatch *);  /* returns total time in secs */


/* code timers */

ODE_API void dTimerStart (const char *description);  /* pass a static string here */
ODE_API void dTimerNow (const char *description);  /* pass a static string here */
ODE_API void dTimerEnd(void);

/* print out a timer report. if `average' is nonzero, print out the average
 * time for each slot (this is only meaningful if the same start-now-end
 * calls are being made repeatedly.
 */
ODE_API void dTimerReport (FILE *fout, int average);


/* resolution */

/* returns the timer ticks per second implied by the timing hardware or API.
 * the actual timer resolution may not be this great.
 */
ODE_API double dTimerTicksPerSecond(void);

/* returns an estimate of the actual timer resolution, in seconds. this may
 * be greater than 1/ticks_per_second.
 */
ODE_API double dTimerResolution(void);


#ifdef __cplusplus
}
#endif

#endif
