PausableTime.java

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package com.neuronrobotics.sdk.pid;
 
import java.util.ArrayList;
 
public class PausableTime {
    private static long timePaused = 0;
    private static long durationPaused = 0;
    private static boolean paused =false;
    private static ArrayList<IPauseTimeListener> listeners = new ArrayList<IPauseTimeListener>();
    
    public static long currentTimeMillis() {
        if(!paused)
            return System.currentTimeMillis()-durationPaused;
        return timePaused;
    }
    
    public static void pause(boolean val) {
        if(val)
            timePaused=System.currentTimeMillis();
        else 
            durationPaused+=(System.currentTimeMillis()-timePaused);
        
        paused=val;
        for(int i=0;i<listeners.size();i++)
            listeners.get(i).pause(val);
    }
    
    
    public static void step(long ms) {
        new Thread(()->{
            boolean start = paused;
            pause(false);
            sleep(ms);
            pause(start);
        }).start();
    }
    
    public static void sleep(long durationMS) {
        try {
            Thread.sleep(durationMS);
        } catch (InterruptedException e) {
            throw new RuntimeException(e);
        }
        while(paused) {
            try {
                Thread.sleep(1);
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }
        }
    }
    
    public static void addIPauseTimeListener(IPauseTimeListener l) {
        if(listeners.contains(l))
            return;
        listeners.add(l);
    }
    public static void removeIPauseTimeListener(IPauseTimeListener l) {
        if(listeners.contains(l))
            listeners.remove(l);
    }
}