thread.cpp

#include "thread.hpp"
 
#include <sys/time.h>
#include <webots/robot.h>
 
#include "condition_var.hpp"
#include "libxr_system.hpp"
 
using namespace LibXR;
 
extern LibXR::ConditionVar *_libxr_webots_time_notify;
 
Thread Thread::Current(void) { return Thread(pthread_self()); }
 
void Thread::Sleep(uint32_t milliseconds) {
  uint32_t now = _libxr_webots_time_count;
  while (_libxr_webots_time_count - now < milliseconds) {
    _libxr_webots_time_notify->Wait(1);
  }
}
 
void Thread::SleepUntil(TimestampMS &last_waskup_time, uint32_t time_to_sleep) {
  last_waskup_time = last_waskup_time + time_to_sleep;
 
  while (_libxr_webots_time_count < last_waskup_time) {
    _libxr_webots_time_notify->Wait(1);
  }
}
 
uint32_t Thread::GetTime() { return _libxr_webots_time_count; }
 
void Thread::Yield() { sched_yield(); }