drivers/win32/timers_win32.cpp
author etisserant
Wed, 18 Apr 2007 13:06:39 +0200
changeset 170 d069631e9ca9
parent 145 e747d2e26af0
permissions -rw-r--r--
Fixed segfault with Xenomai timer_xeno.c
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/*
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This file is part of CanFestival, a library implementing CanOpen Stack.
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Copyright (C): Edouard TISSERANT and Francis DUPIN
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Copyright (C) Win32 Port Leonid Tochinski
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See COPYING file for copyrights details.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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*/
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#include <windows.h>
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#include <stdlib.h>
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extern "C"
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{
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#include "applicfg.h"
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#include "can_driver.h"
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#include "timer.h"
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#include "timers_driver.h"
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};
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// --------------- Synchronization Object Implementation ---------------
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class ccritical_section
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   {
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   public:
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      ccritical_section()
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         {
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         ::InitializeCriticalSection(&m_cs);
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         }
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      ~ccritical_section()
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         {
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         ::DeleteCriticalSection(&m_cs);
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         }
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      void enter()
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         {
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         ::EnterCriticalSection(&m_cs);
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         }
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      void leave()
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         {
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         ::LeaveCriticalSection(&m_cs);
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         }
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   private:
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      CRITICAL_SECTION m_cs;
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   };
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static ccritical_section g_cs;
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void EnterMutex(void)
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   {
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   g_cs.enter();
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   }
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void LeaveMutex(void)
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   {
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   g_cs.leave();
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   }
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// --------------- Synchronization Object Implementation ---------------
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// --------------- CAN Receive Thread Implementation ---------------
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void CreateReceiveTask(CAN_HANDLE fd0, TASK_HANDLE* Thread, void* ReceiveLoopPtr)
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   {
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   unsigned long thread_id = 0;
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   *Thread = ::CreateThread(NULL, 0, (LPTHREAD_START_ROUTINE)ReceiveLoopPtr, fd0, 0, &thread_id);
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   }
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void WaitReceiveTaskEnd(TASK_HANDLE Thread)
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   {
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   ::WaitForSingleObject(Thread, INFINITE);
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   ::CloseHandle(Thread);
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   //*Thread = NULL;
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   }
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// --------------- CAN Receive Thread Implementation ---------------
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// --------------- Timer Thread Implementation ---------------
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class class_timers
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   {
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   public:
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      class_timers();
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      ~class_timers();
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      void start_timer_thread();
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      void resume_timer_thread();
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      void stop_timer_thread();
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      void set_timer(TIMEVAL value);
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      TIMEVAL get_elapsed_time();
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   private:
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      TIMEVAL get_timer() const;   
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      static DWORD WINAPI timer_loop_thread_proc(void* arg);
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   private:
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      TIMEVAL m_last_occured_alarm_time;
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      volatile TIMEVAL m_last_alarm_set_time;
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      HANDLE m_timer_thread;
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      volatile bool m_continue_timer_loop;
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      bool m_use_hi_res_timer;
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      double m_counts_per_usec;
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   };
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class_timers::class_timers() : m_last_occured_alarm_time(TIMEVAL_MAX),
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      m_last_alarm_set_time(TIMEVAL_MAX),
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      m_timer_thread(0),
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      m_continue_timer_loop(false),
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      m_use_hi_res_timer(false),
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      m_counts_per_usec(0.)
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   {
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   // initialize hi resolution timer
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   LARGE_INTEGER counts_per_sec = {0, 0};
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   if (::QueryPerformanceFrequency(&counts_per_sec) && counts_per_sec.QuadPart > 0)
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      {
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      m_use_hi_res_timer = true;
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      m_counts_per_usec = counts_per_sec.QuadPart / 1000000.;
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      }
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   m_use_hi_res_timer = true;
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   }
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class_timers::~class_timers()
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   {
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   stop_timer_thread();
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   }
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// time is in micro seconds
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TIMEVAL class_timers::get_timer() const
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   {
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   if (m_use_hi_res_timer)
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      {
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      LARGE_INTEGER performance_count = {0, 0};
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      ::QueryPerformanceCounter(&performance_count);
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      return (TIMEVAL)(performance_count.QuadPart / m_counts_per_usec);
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      }
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   // hi-res timer is unavailable
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   return 1000 * ::GetTickCount();
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   }
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DWORD WINAPI class_timers::timer_loop_thread_proc(void* arg)
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   {
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   class_timers* This = reinterpret_cast<class_timers*>(arg);
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   while (This->m_continue_timer_loop)
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      {
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      TIMEVAL cur_time = This->get_timer();
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      if (cur_time >= This->m_last_alarm_set_time)
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         {
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         This->m_last_occured_alarm_time = cur_time;
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         This->m_last_alarm_set_time = TIMEVAL_MAX;         
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         EnterMutex();
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         TimeDispatch();
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         LeaveMutex();
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         }
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      else
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         {
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         ::Sleep(1);
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         }
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      }
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   return 0;
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   }
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void class_timers::start_timer_thread()
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   {
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   if (m_timer_thread == 0)
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      {
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      unsigned long thread_id = 0;
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      m_timer_thread = ::CreateThread(NULL, 0, &timer_loop_thread_proc, this, CREATE_SUSPENDED, &thread_id);
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      m_last_alarm_set_time = TIMEVAL_MAX;
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      m_last_occured_alarm_time = get_timer();
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      }
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   }
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void class_timers::resume_timer_thread()
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   {
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   if (m_timer_thread)
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      {
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      m_continue_timer_loop = true;
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      ::ResumeThread(m_timer_thread);
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      }
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   }
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void class_timers::stop_timer_thread()
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   {
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   if (m_timer_thread)
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      {
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      m_continue_timer_loop = false;
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      ::WaitForSingleObject(m_timer_thread, INFINITE);
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      ::CloseHandle(m_timer_thread);
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      m_timer_thread = 0;
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      }
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   }
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void class_timers::set_timer(TIMEVAL value)
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   {
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   m_last_alarm_set_time = (value == TIMEVAL_MAX) ? TIMEVAL_MAX : get_timer() + value;
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   }
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// elapsed time since last occured alarm
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TIMEVAL class_timers::get_elapsed_time()
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   {
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   return get_timer() - m_last_occured_alarm_time;
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   }
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// ----------------------------------------------------------
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static class_timers s_timers;
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void StartTimerLoop(TimerCallback_t init_callback)
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   {
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   s_timers.start_timer_thread();
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   // At first, TimeDispatch will call init_callback.
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   if (init_callback != NULL)
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      SetAlarm(NULL, 0, init_callback, (TIMEVAL)0, (TIMEVAL)0);
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   s_timers.resume_timer_thread();
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   }
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void StopTimerLoop(void)
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   {
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   s_timers.stop_timer_thread();
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   }
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void setTimer(TIMEVAL value)
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   {
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   s_timers.set_timer(value);
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   }
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TIMEVAL getElapsedTime(void)
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   {
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   return s_timers.get_elapsed_time();
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   }