first commit 1437_31102025
This commit is contained in:
185
include/robot/duration.h
Normal file
185
include/robot/duration.h
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@@ -0,0 +1,185 @@
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/*********************************************************************
|
||||
* Software License Agreement (BSD License)
|
||||
*
|
||||
* Copyright (c) 2008, Willow Garage, Inc.
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above
|
||||
* copyright notice, this list of conditions and the following
|
||||
* disclaimer in the documentation and/or other materials provided
|
||||
* with the distribution.
|
||||
* * Neither the name of Willow Garage, Inc. nor the names of its
|
||||
* contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
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||||
*********************************************************************/
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#ifndef ROBOT_DURATION_H
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#define ROBOT_DURATION_H
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/*********************************************************************
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** Pragmas
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*********************************************************************/
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#ifdef _MSC_VER
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// Robot_time has some magic interface that doesn't directly include
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// its implementation, this just disbales those warnings.
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#pragma warning(disable: 4244)
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#pragma warning(disable: 4661)
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#endif
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#include <iostream>
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#include <math.h>
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#include <stdexcept>
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#include <climits>
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#include <stdint.h>
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#include "robot_time_decl.h"
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namespace robot
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{
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ROBOT_TIME_DECL void normalizeSecNSecSigned(int64_t& sec, int64_t& nsec);
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ROBOT_TIME_DECL void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
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/**
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* \brief Base class for Duration implementations. Provides storage, common functions and operator overloads.
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* This should not need to be used directly.
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*/
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template <class T>
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class DurationBase
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{
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public:
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int32_t sec, nsec;
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DurationBase() : sec(0), nsec(0) { }
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DurationBase(int32_t _sec, int32_t _nsec);
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explicit DurationBase(double t){fromSec(t);};
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T operator+(const T &rhs) const;
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T operator-(const T &rhs) const;
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T operator-() const;
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T operator*(double scale) const;
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T& operator+=(const T &rhs);
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T& operator-=(const T &rhs);
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T& operator*=(double scale);
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bool operator==(const T &rhs) const;
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inline bool operator!=(const T &rhs) const { return !(*static_cast<const T*>(this) == rhs); }
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bool operator>(const T &rhs) const;
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bool operator<(const T &rhs) const;
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bool operator>=(const T &rhs) const;
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bool operator<=(const T &rhs) const;
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double toSec() const { return static_cast<double>(sec) + 1e-9*static_cast<double>(nsec); };
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int64_t toNSec() const {return static_cast<int64_t>(sec)*1000000000ll + static_cast<int64_t>(nsec); };
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T& fromSec(double t);
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T& fromNSec(int64_t t);
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bool isZero() const;
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// boost::posix_time conversion removed in std-only build
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static const T MIN; //!< Minimum representable duration (negative)
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static const T MAX; //!< Maximum representable duration
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static const T ZERO; //!< Zero duration
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static const T DAY; //!< One day duration
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static const T HOUR; //!< One hour duration
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static const T MINUTE; //!< One minute duration
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static const T SECOND; //!< One second duration
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static const T MILLISECOND; //!< One millisecond duration
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static const T MICROSECOND; //!< One microsecond duration
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static const T NANOSECOND; //!< One nanosecond duration
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};
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class Rate;
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/**
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* \brief Duration representation for use with the Time class.
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*
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* robot::DurationBase provides most of its functionality.
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*/
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class ROBOT_TIME_DECL Duration : public DurationBase<Duration>
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{
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public:
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Duration()
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: DurationBase<Duration>()
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{ }
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Duration(int32_t _sec, int32_t _nsec)
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: DurationBase<Duration>(_sec, _nsec)
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{}
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explicit Duration(double t) { fromSec(t); }
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explicit Duration(const Rate&);
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/**
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* \brief sleep for the amount of time specified by this Duration. If a signal interrupts the sleep, resleeps for the time remaining.
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* @return True if the desired sleep duration was met, false otherwise.
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*/
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bool sleep() const;
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};
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extern ROBOT_TIME_DECL const Duration DURATION_MAX;
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extern ROBOT_TIME_DECL const Duration DURATION_MIN;
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template<> const Duration DurationBase<Duration>::MAX;
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template<> const Duration DurationBase<Duration>::MIN;
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template<> const Duration DurationBase<Duration>::ZERO;
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template<> const Duration DurationBase<Duration>::DAY;
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template<> const Duration DurationBase<Duration>::HOUR;
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template<> const Duration DurationBase<Duration>::MINUTE;
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template<> const Duration DurationBase<Duration>::SECOND;
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template<> const Duration DurationBase<Duration>::MILLISECOND;
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template<> const Duration DurationBase<Duration>::MICROSECOND;
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template<> const Duration DurationBase<Duration>::NANOSECOND;
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/**
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* \brief Duration representation for use with the WallTime class.
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*
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* robot::DurationBase provides most of its functionality.
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*/
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class ROBOT_TIME_DECL WallDuration : public DurationBase<WallDuration>
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{
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public:
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WallDuration()
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: DurationBase<WallDuration>()
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{ }
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WallDuration(int32_t _sec, int32_t _nsec)
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: DurationBase<WallDuration>(_sec, _nsec)
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{}
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explicit WallDuration(double t) { fromSec(t); }
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explicit WallDuration(const Rate&);
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/**
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* \brief sleep for the amount of time specified by this Duration. If a signal interrupts the sleep, resleeps for the time remaining.
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* @return True if the desired sleep duration was met, false otherwise.
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*/
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bool sleep() const;
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};
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template<> const WallDuration DurationBase<WallDuration>::MAX;
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template<> const WallDuration DurationBase<WallDuration>::MIN;
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template<> const WallDuration DurationBase<WallDuration>::ZERO;
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template<> const WallDuration DurationBase<WallDuration>::DAY;
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template<> const WallDuration DurationBase<WallDuration>::HOUR;
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template<> const WallDuration DurationBase<WallDuration>::MINUTE;
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template<> const WallDuration DurationBase<WallDuration>::SECOND;
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template<> const WallDuration DurationBase<WallDuration>::MILLISECOND;
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template<> const WallDuration DurationBase<WallDuration>::MICROSECOND;
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template<> const WallDuration DurationBase<WallDuration>::NANOSECOND;
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ROBOT_TIME_DECL std::ostream &operator <<(std::ostream &os, const Duration &rhs);
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ROBOT_TIME_DECL std::ostream &operator <<(std::ostream &os, const WallDuration &rhs);
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}
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#endif // ROBOT_DURATION_H
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22
include/robot/exception.h
Normal file
22
include/robot/exception.h
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@@ -0,0 +1,22 @@
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/*********************************************************************
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* Minimal exception type compatible with existing code.
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*********************************************************************/
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#ifndef ROBOT_MINIMAL_EXCEPTION_H
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#define ROBOT_MINIMAL_EXCEPTION_H
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#include <stdexcept>
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#include <string>
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namespace robot {
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class Exception : public std::runtime_error {
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public:
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explicit Exception(const std::string& what_arg)
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: std::runtime_error(what_arg) {}
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};
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} // namespace robot
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#endif // ROBOT_MINIMAL_EXCEPTION_H
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190
include/robot/impl/duration.h
Normal file
190
include/robot/impl/duration.h
Normal file
@@ -0,0 +1,190 @@
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||||
/*********************************************************************
|
||||
* Software License Agreement (BSD License)
|
||||
*
|
||||
* Copyright (c) 2010, Willow Garage, Inc.
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above
|
||||
* copyright notice, this list of conditions and the following
|
||||
* disclaimer in the documentation and/or other materials provided
|
||||
* with the distribution.
|
||||
* * Neither the name of Willow Garage, Inc. nor the names of its
|
||||
* contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*********************************************************************/
|
||||
#ifndef ROBOT_TIME_IMPL_DURATION_H_INCLUDED
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#define ROBOT_TIME_IMPL_DURATION_H_INCLUDED
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#include <cmath>
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#include <limits>
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#include <robot/duration.h>
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#include <robot/rate.h>
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namespace robot {
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//
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// DurationBase template member function implementation
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//
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template<class T>
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DurationBase<T>::DurationBase(int32_t _sec, int32_t _nsec)
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: sec(_sec), nsec(_nsec)
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{
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normalizeSecNSecSigned(sec, nsec);
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}
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||||
template<class T>
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T& DurationBase<T>::fromSec(double d)
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{
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if (!std::isfinite(d))
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throw std::runtime_error("Duration has to be finite.");
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constexpr double minInt64AsDouble = static_cast<double>(std::numeric_limits<int64_t>::min());
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constexpr double maxInt64AsDouble = static_cast<double>(std::numeric_limits<int64_t>::max());
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if (d <= minInt64AsDouble || d >= maxInt64AsDouble)
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throw std::runtime_error("Duration is out of 64-bit integer range");
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int64_t sec64 = static_cast<int64_t>(floor(d));
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if (sec64 < std::numeric_limits<int32_t>::min() || sec64 > std::numeric_limits<int32_t>::max())
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throw std::runtime_error("Duration is out of dual 32-bit range");
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sec = static_cast<int32_t>(sec64);
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nsec = static_cast<int32_t>(std::llround((d - sec) * 1e9));
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int32_t rollover = nsec / 1000000000ul;
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sec += rollover;
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nsec %= 1000000000ul;
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return *static_cast<T*>(this);
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||||
}
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template<class T>
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T& DurationBase<T>::fromNSec(int64_t t)
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||||
{
|
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int64_t sec64 = t / 1000000000LL;
|
||||
if (sec64 < std::numeric_limits<int32_t>::min() || sec64 > std::numeric_limits<int32_t>::max())
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throw std::runtime_error("Duration is out of dual 32-bit range");
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sec = static_cast<int32_t>(sec64);
|
||||
nsec = static_cast<int32_t>(t % 1000000000LL);
|
||||
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normalizeSecNSecSigned(sec, nsec);
|
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|
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return *static_cast<T*>(this);
|
||||
}
|
||||
|
||||
template<class T>
|
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T DurationBase<T>::operator+(const T &rhs) const
|
||||
{
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T t;
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||||
return t.fromNSec(toNSec() + rhs.toNSec());
|
||||
}
|
||||
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template<class T>
|
||||
T DurationBase<T>::operator*(double scale) const
|
||||
{
|
||||
return T(toSec() * scale);
|
||||
}
|
||||
|
||||
template<class T>
|
||||
T DurationBase<T>::operator-(const T &rhs) const
|
||||
{
|
||||
T t;
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return t.fromNSec(toNSec() - rhs.toNSec());
|
||||
}
|
||||
|
||||
template<class T>
|
||||
T DurationBase<T>::operator-() const
|
||||
{
|
||||
T t;
|
||||
return t.fromNSec(-toNSec());
|
||||
}
|
||||
|
||||
template<class T>
|
||||
T& DurationBase<T>::operator+=(const T &rhs)
|
||||
{
|
||||
*this = *this + rhs;
|
||||
return *static_cast<T*>(this);
|
||||
}
|
||||
|
||||
template<class T>
|
||||
T& DurationBase<T>::operator-=(const T &rhs)
|
||||
{
|
||||
*this += (-rhs);
|
||||
return *static_cast<T*>(this);
|
||||
}
|
||||
|
||||
template<class T>
|
||||
T& DurationBase<T>::operator*=(double scale)
|
||||
{
|
||||
fromSec(toSec() * scale);
|
||||
return *static_cast<T*>(this);
|
||||
}
|
||||
|
||||
template<class T>
|
||||
bool DurationBase<T>::operator<(const T &rhs) const
|
||||
{
|
||||
if (sec < rhs.sec)
|
||||
return true;
|
||||
else if (sec == rhs.sec && nsec < rhs.nsec)
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
template<class T>
|
||||
bool DurationBase<T>::operator>(const T &rhs) const
|
||||
{
|
||||
if (sec > rhs.sec)
|
||||
return true;
|
||||
else if (sec == rhs.sec && nsec > rhs.nsec)
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
template<class T>
|
||||
bool DurationBase<T>::operator<=(const T &rhs) const
|
||||
{
|
||||
if (sec < rhs.sec)
|
||||
return true;
|
||||
else if (sec == rhs.sec && nsec <= rhs.nsec)
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
template<class T>
|
||||
bool DurationBase<T>::operator>=(const T &rhs) const
|
||||
{
|
||||
if (sec > rhs.sec)
|
||||
return true;
|
||||
else if (sec == rhs.sec && nsec >= rhs.nsec)
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
template<class T>
|
||||
bool DurationBase<T>::operator==(const T &rhs) const
|
||||
{
|
||||
return sec == rhs.sec && nsec == rhs.nsec;
|
||||
}
|
||||
|
||||
template<class T>
|
||||
bool DurationBase<T>::isZero() const
|
||||
{
|
||||
return sec == 0 && nsec == 0;
|
||||
}
|
||||
|
||||
// boost::posix_time conversion removed in std-only build
|
||||
}
|
||||
#endif
|
||||
185
include/robot/impl/time.h
Normal file
185
include/robot/impl/time.h
Normal file
@@ -0,0 +1,185 @@
|
||||
/*********************************************************************
|
||||
* Software License Agreement (BSD License)
|
||||
*
|
||||
* Copyright (c) 2008, Willow Garage, Inc.
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above
|
||||
* copyright notice, this list of conditions and the following
|
||||
* disclaimer in the documentation and/or other materials provided
|
||||
* with the distribution.
|
||||
* * Neither the name of Willow Garage, Inc. nor the names of its
|
||||
* contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*********************************************************************/
|
||||
|
||||
#ifndef ROBOT_TIME_IMPL_H_INCLUDED
|
||||
#define ROBOT_TIME_IMPL_H_INCLUDED
|
||||
|
||||
/*********************************************************************
|
||||
** Headers
|
||||
*********************************************************************/
|
||||
|
||||
#include <robot/platform.h>
|
||||
#include <iostream>
|
||||
#include <cmath>
|
||||
#include <limits>
|
||||
#include <robot/exception.h>
|
||||
#include <robot/time.h>
|
||||
|
||||
/*********************************************************************
|
||||
** Cross Platform Headers
|
||||
*********************************************************************/
|
||||
|
||||
#if defined(_WIN32)
|
||||
#include <sys/timeb.h>
|
||||
#else
|
||||
#include <sys/time.h>
|
||||
#endif
|
||||
|
||||
namespace robot
|
||||
{
|
||||
|
||||
template<class T, class D>
|
||||
T& TimeBase<T, D>::fromNSec(uint64_t t)
|
||||
{
|
||||
uint64_t sec64 = 0;
|
||||
uint64_t nsec64 = t;
|
||||
|
||||
normalizeSecNSec(sec64, nsec64);
|
||||
|
||||
sec = static_cast<uint32_t>(sec64);
|
||||
nsec = static_cast<uint32_t>(nsec64);
|
||||
|
||||
return *static_cast<T*>(this);
|
||||
}
|
||||
|
||||
template<class T, class D>
|
||||
T& TimeBase<T, D>::fromSec(double t) {
|
||||
if (t < 0)
|
||||
throw std::runtime_error("Time cannot be negative.");
|
||||
if (!std::isfinite(t))
|
||||
throw std::runtime_error("Time has to be finite.");
|
||||
constexpr double maxInt64AsDouble = static_cast<double>(std::numeric_limits<int64_t>::max());
|
||||
if (t >= maxInt64AsDouble)
|
||||
throw std::runtime_error("Time is out of 64-bit integer range");
|
||||
int64_t sec64 = static_cast<int64_t>(floor(t));
|
||||
if (sec64 > std::numeric_limits<uint32_t>::max())
|
||||
throw std::runtime_error("Time is out of dual 32-bit range");
|
||||
sec = static_cast<uint32_t>(sec64);
|
||||
nsec = static_cast<uint32_t>(std::llround((t-sec) * 1e9));
|
||||
// avoid rounding errors
|
||||
sec += (nsec / 1000000000ul);
|
||||
nsec %= 1000000000ul;
|
||||
return *static_cast<T*>(this);
|
||||
}
|
||||
|
||||
template<class T, class D>
|
||||
D TimeBase<T, D>::operator-(const T &rhs) const
|
||||
{
|
||||
D d;
|
||||
return d.fromNSec(toNSec() - rhs.toNSec());
|
||||
}
|
||||
|
||||
template<class T, class D>
|
||||
T TimeBase<T, D>::operator-(const D &rhs) const
|
||||
{
|
||||
return *static_cast<const T*>(this) + ( -rhs);
|
||||
}
|
||||
|
||||
template<class T, class D>
|
||||
T TimeBase<T, D>::operator+(const D &rhs) const
|
||||
{
|
||||
int64_t sec_sum = static_cast<uint64_t>(sec) + static_cast<uint64_t>(rhs.sec);
|
||||
int64_t nsec_sum = static_cast<uint64_t>(nsec) + static_cast<uint64_t>(rhs.nsec);
|
||||
|
||||
// Throws an exception if we go out of 32-bit range
|
||||
normalizeSecNSecUnsigned(sec_sum, nsec_sum);
|
||||
|
||||
// now, it's safe to downcast back to uint32 bits
|
||||
return T(static_cast<uint32_t>(sec_sum), static_cast<uint32_t>(nsec_sum));
|
||||
}
|
||||
|
||||
template<class T, class D>
|
||||
T& TimeBase<T, D>::operator+=(const D &rhs)
|
||||
{
|
||||
*this = *this + rhs;
|
||||
return *static_cast<T*>(this);
|
||||
}
|
||||
|
||||
template<class T, class D>
|
||||
T& TimeBase<T, D>::operator-=(const D &rhs)
|
||||
{
|
||||
*this += (-rhs);
|
||||
return *static_cast<T*>(this);
|
||||
}
|
||||
|
||||
template<class T, class D>
|
||||
bool TimeBase<T, D>::operator==(const T &rhs) const
|
||||
{
|
||||
return sec == rhs.sec && nsec == rhs.nsec;
|
||||
}
|
||||
|
||||
template<class T, class D>
|
||||
bool TimeBase<T, D>::operator<(const T &rhs) const
|
||||
{
|
||||
if (sec < rhs.sec)
|
||||
return true;
|
||||
else if (sec == rhs.sec && nsec < rhs.nsec)
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
template<class T, class D>
|
||||
bool TimeBase<T, D>::operator>(const T &rhs) const
|
||||
{
|
||||
if (sec > rhs.sec)
|
||||
return true;
|
||||
else if (sec == rhs.sec && nsec > rhs.nsec)
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
template<class T, class D>
|
||||
bool TimeBase<T, D>::operator<=(const T &rhs) const
|
||||
{
|
||||
if (sec < rhs.sec)
|
||||
return true;
|
||||
else if (sec == rhs.sec && nsec <= rhs.nsec)
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
template<class T, class D>
|
||||
bool TimeBase<T, D>::operator>=(const T &rhs) const
|
||||
{
|
||||
if (sec > rhs.sec)
|
||||
return true;
|
||||
else if (sec == rhs.sec && nsec >= rhs.nsec)
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
|
||||
// boost::posix_time conversion removed in std-only build
|
||||
}
|
||||
|
||||
#endif // ROBOT_IMPL_TIME_H_INCLUDED
|
||||
23
include/robot/macros.h
Normal file
23
include/robot/macros.h
Normal file
@@ -0,0 +1,23 @@
|
||||
/*********************************************************************
|
||||
* Minimal macros to decouple from ROS build system.
|
||||
*********************************************************************/
|
||||
#ifndef ROBOT_MINIMAL_MACROS_H
|
||||
#define ROBOT_MINIMAL_MACROS_H
|
||||
|
||||
#if defined(_WIN32) && !defined(ROSTIME_STATIC)
|
||||
#define ROBOT_HELPER_EXPORT __declspec(dllexport)
|
||||
#define ROBOT_HELPER_IMPORT __declspec(dllimport)
|
||||
#else
|
||||
#define ROBOT_HELPER_EXPORT
|
||||
#define ROBOT_HELPER_IMPORT
|
||||
#endif
|
||||
|
||||
#if defined(_MSC_VER)
|
||||
#define ROBOT_FORCE_INLINE __forceinline
|
||||
#else
|
||||
#define ROBOT_FORCE_INLINE inline __attribute__((always_inline))
|
||||
#endif
|
||||
|
||||
#endif // ROBOT_MINIMAL_MACROS_H
|
||||
|
||||
|
||||
9
include/robot/platform.h
Normal file
9
include/robot/platform.h
Normal file
@@ -0,0 +1,9 @@
|
||||
/*********************************************************************
|
||||
* Minimal platform header placeholder to satisfy includes.
|
||||
*********************************************************************/
|
||||
#ifndef ROBOT_MINIMAL_PLATFORM_H
|
||||
#define ROBOT_MINIMAL_PLATFORM_H
|
||||
|
||||
#endif // ROBOT_MINIMAL_PLATFORM_H
|
||||
|
||||
|
||||
131
include/robot/rate.h
Normal file
131
include/robot/rate.h
Normal file
@@ -0,0 +1,131 @@
|
||||
/*********************************************************************
|
||||
*
|
||||
* Software License Agreement (BSD License)
|
||||
*
|
||||
* Copyright (c) 2009, Willow Garage, Inc.
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above
|
||||
* copyright notice, this list of conditions and the following
|
||||
* disclaimer in the documentation and/or other materials provided
|
||||
* with the distribution.
|
||||
* * Neither the name of the Willow Garage nor the names of its
|
||||
* contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
* Author: Eitan Marder-Eppstein
|
||||
*********************************************************************/
|
||||
#ifndef ROBOT_LIB_RATE_H
|
||||
#define ROBOT_LIB_RATE_H
|
||||
|
||||
#include "robot/time.h"
|
||||
#include "robot_time_decl.h"
|
||||
|
||||
namespace robot
|
||||
{
|
||||
class Duration;
|
||||
|
||||
/**
|
||||
* @class Rate
|
||||
* @brief Class to help run loops at a desired frequency
|
||||
*/
|
||||
class ROBOT_TIME_DECL Rate
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @brief Constructor, creates a Rate
|
||||
* @param frequency The desired rate to run at in Hz
|
||||
*/
|
||||
Rate(double frequency);
|
||||
explicit Rate(const Duration&);
|
||||
|
||||
/**
|
||||
* @brief Sleeps for any leftover time in a cycle. Calculated from the last time sleep, reset, or the constructor was called.
|
||||
* @return True if the desired rate was met for the cycle, false otherwise.
|
||||
*/
|
||||
bool sleep();
|
||||
|
||||
/**
|
||||
* @brief Sets the start time for the rate to now
|
||||
*/
|
||||
void reset();
|
||||
|
||||
/**
|
||||
* @brief Get the actual run time of a cycle from start to sleep
|
||||
* @return The runtime of the cycle
|
||||
*/
|
||||
Duration cycleTime() const;
|
||||
|
||||
/**
|
||||
* @brief Get the expected cycle time -- one over the frequency passed in to the constructor
|
||||
*/
|
||||
Duration expectedCycleTime() const { return expected_cycle_time_; }
|
||||
|
||||
private:
|
||||
Time start_;
|
||||
Duration expected_cycle_time_, actual_cycle_time_;
|
||||
};
|
||||
|
||||
/**
|
||||
* @class WallRate
|
||||
* @brief Class to help run loops at a desired frequency. This version always uses wall-clock time.
|
||||
*/
|
||||
class ROBOT_TIME_DECL WallRate
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @brief Constructor, creates a Rate
|
||||
* @param frequency The desired rate to run at in Hz
|
||||
*/
|
||||
WallRate(double frequency);
|
||||
explicit WallRate(const Duration&);
|
||||
|
||||
/**
|
||||
* @brief Sleeps for any leftover time in a cycle. Calculated from the last time sleep, reset, or the constructor was called.
|
||||
* @return Passes through the return value from WallDuration::sleep() if it slept, false otherwise.
|
||||
*/
|
||||
bool sleep();
|
||||
|
||||
/**
|
||||
* @brief Sets the start time for the rate to now
|
||||
*/
|
||||
void reset();
|
||||
|
||||
/**
|
||||
* @brief Get the actual run time of a cycle from start to sleep
|
||||
* @return The runtime of the cycle
|
||||
*/
|
||||
WallDuration cycleTime() const;
|
||||
|
||||
/**
|
||||
* @brief Get the expected cycle time -- one over the frequency passed in to the constructor
|
||||
*/
|
||||
WallDuration expectedCycleTime() const { return expected_cycle_time_; }
|
||||
|
||||
private:
|
||||
WallTime start_;
|
||||
WallDuration expected_cycle_time_, actual_cycle_time_;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
55
include/robot/robot_time_decl.h
Normal file
55
include/robot/robot_time_decl.h
Normal file
@@ -0,0 +1,55 @@
|
||||
/*********************************************************************
|
||||
*
|
||||
* Software License Agreement (BSD License)
|
||||
*
|
||||
* Copyright (c) 2009, Willow Garage, Inc.
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above
|
||||
* copyright notice, this list of conditions and the following
|
||||
* disclaimer in the documentation and/or other materials provided
|
||||
* with the distribution.
|
||||
* * Neither the name of the Willow Garage nor the names of its
|
||||
* contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
*********************************************************************/
|
||||
/*
|
||||
* Cross platform macros.
|
||||
*
|
||||
*/
|
||||
#ifndef ROBOT_TIME_DECL_HPP_INCLUDED
|
||||
#define ROBOT_TIME_DECL_HPP_INCLUDED
|
||||
|
||||
#include <robot/macros.h>
|
||||
|
||||
#ifdef ROBOT_BUILD_SHARED_LIBS // robot is being built around shared libraries
|
||||
#ifdef robot_time_EXPORTS // we are building a shared lib/dll
|
||||
#define ROBOT_TIME_DECL ROBOT_HELPER_EXPORT
|
||||
#else // we are using shared lib/dll
|
||||
#define ROBOT_TIME_DECL ROBOT_HELPER_IMPORT
|
||||
#endif
|
||||
#else // robot is being built around static libraries
|
||||
#define ROBOT_TIME_DECL
|
||||
#endif
|
||||
|
||||
#endif /* ROBOT_TIME_DECL_HPP_INCLUDED */
|
||||
301
include/robot/time.h
Normal file
301
include/robot/time.h
Normal file
@@ -0,0 +1,301 @@
|
||||
/*********************************************************************
|
||||
* Software License Agreement (BSD License)
|
||||
*
|
||||
* Copyright (c) 2010, Willow Garage, Inc.
|
||||
* All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* * Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* * Redistributions in binary form must reproduce the above
|
||||
* copyright notice, this list of conditions and the following
|
||||
* disclaimer in the documentation and/or other materials provided
|
||||
* with the distribution.
|
||||
* * Neither the name of Willow Garage, Inc. nor the names of its
|
||||
* contributors may be used to endorse or promote products derived
|
||||
* from this software without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
||||
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*********************************************************************/
|
||||
|
||||
#ifndef ROBOT_TIME_H_INCLUDED
|
||||
#define ROBOT_TIME_H_INCLUDED
|
||||
|
||||
/*********************************************************************
|
||||
** Pragmas
|
||||
*********************************************************************/
|
||||
|
||||
#ifdef _MSC_VER
|
||||
// Robot_time has some magic interface that doesn't directly include
|
||||
// its implementation, this just disables those warnings.
|
||||
#pragma warning(disable: 4244)
|
||||
#pragma warning(disable: 4661)
|
||||
#endif
|
||||
|
||||
/*********************************************************************
|
||||
** Headers
|
||||
*********************************************************************/
|
||||
|
||||
#include <robot/platform.h>
|
||||
#include <iostream>
|
||||
#include <cmath>
|
||||
#include <robot/exception.h>
|
||||
#include "duration.h"
|
||||
#include "robot_time_decl.h"
|
||||
|
||||
/*********************************************************************
|
||||
** Cross Platform Headers
|
||||
*********************************************************************/
|
||||
|
||||
#if defined(_WIN32)
|
||||
#include <sys/timeb.h>
|
||||
#else
|
||||
#include <sys/time.h>
|
||||
#endif
|
||||
|
||||
namespace robot
|
||||
{
|
||||
|
||||
/*********************************************************************
|
||||
** Exceptions
|
||||
*********************************************************************/
|
||||
|
||||
/**
|
||||
* @brief Thrown if the robot subsystem hasn't been initialised before use.
|
||||
*/
|
||||
class ROBOT_TIME_DECL TimeNotInitializedException : public Exception
|
||||
{
|
||||
public:
|
||||
TimeNotInitializedException()
|
||||
: Exception("Cannot use robot::Time::now() before the first NodeHandle has been created or robot::start() has been called. "
|
||||
"If this is a standalone app or test that just uses robot::Time and does not communicate over ROBOT, you may also call robot::Time::init()")
|
||||
{}
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Thrown if windows high perf. timestamping is unavailable.
|
||||
*
|
||||
* @sa getWallTime
|
||||
*/
|
||||
class ROBOT_TIME_DECL NoHighPerformanceTimersException : public Exception
|
||||
{
|
||||
public:
|
||||
NoHighPerformanceTimersException()
|
||||
: Exception("This windows platform does not "
|
||||
"support the high-performance timing api.")
|
||||
{}
|
||||
};
|
||||
|
||||
/*********************************************************************
|
||||
** Functions
|
||||
*********************************************************************/
|
||||
|
||||
ROBOT_TIME_DECL void normalizeSecNSec(uint64_t& sec, uint64_t& nsec);
|
||||
ROBOT_TIME_DECL void normalizeSecNSec(uint32_t& sec, uint32_t& nsec);
|
||||
ROBOT_TIME_DECL void normalizeSecNSecUnsigned(int64_t& sec, int64_t& nsec);
|
||||
ROBOT_TIME_DECL void robot_walltime(uint32_t& sec, uint32_t& nsec);
|
||||
ROBOT_TIME_DECL void robot_steadytime(uint32_t& sec, uint32_t& nsec);
|
||||
|
||||
/*********************************************************************
|
||||
** Time Classes
|
||||
*********************************************************************/
|
||||
|
||||
/**
|
||||
* \brief Base class for Time implementations. Provides storage, common functions and operator overloads.
|
||||
* This should not need to be used directly.
|
||||
*/
|
||||
template<class T, class D>
|
||||
class TimeBase
|
||||
{
|
||||
public:
|
||||
uint32_t sec, nsec;
|
||||
|
||||
TimeBase() : sec(0), nsec(0) { }
|
||||
TimeBase(uint32_t _sec, uint32_t _nsec) : sec(_sec), nsec(_nsec)
|
||||
{
|
||||
normalizeSecNSec(sec, nsec);
|
||||
}
|
||||
explicit TimeBase(double t) { fromSec(t); }
|
||||
D operator-(const T &rhs) const;
|
||||
T operator+(const D &rhs) const;
|
||||
T operator-(const D &rhs) const;
|
||||
T& operator+=(const D &rhs);
|
||||
T& operator-=(const D &rhs);
|
||||
bool operator==(const T &rhs) const;
|
||||
inline bool operator!=(const T &rhs) const { return !(*static_cast<const T*>(this) == rhs); }
|
||||
bool operator>(const T &rhs) const;
|
||||
bool operator<(const T &rhs) const;
|
||||
bool operator>=(const T &rhs) const;
|
||||
bool operator<=(const T &rhs) const;
|
||||
|
||||
double toSec() const { return static_cast<double>(sec) + 1e-9*static_cast<double>(nsec); };
|
||||
T& fromSec(double t);
|
||||
|
||||
uint64_t toNSec() const {return static_cast<uint64_t>(sec)*1000000000ull + static_cast<uint64_t>(nsec); }
|
||||
T& fromNSec(uint64_t t);
|
||||
|
||||
inline bool isZero() const { return sec == 0 && nsec == 0; }
|
||||
inline bool is_zero() const { return isZero(); }
|
||||
// boost::posix_time conversion removed in std-only build
|
||||
|
||||
static const T MIN; //!< Minimum representable time
|
||||
static const T MAX; //!< Maximum representable time
|
||||
static const T ZERO; //!< Zero (invalid) time
|
||||
static const T UNINITIALIZED; //!< Uninitialized time
|
||||
};
|
||||
|
||||
/**
|
||||
* \brief Time representation. May either represent wall clock time or ROBOT clock time.
|
||||
*
|
||||
* robot::TimeBase provides most of its functionality.
|
||||
*/
|
||||
class ROBOT_TIME_DECL Time : public TimeBase<Time, Duration>
|
||||
{
|
||||
public:
|
||||
Time()
|
||||
: TimeBase<Time, Duration>()
|
||||
{}
|
||||
|
||||
Time(uint32_t _sec, uint32_t _nsec)
|
||||
: TimeBase<Time, Duration>(_sec, _nsec)
|
||||
{}
|
||||
|
||||
explicit Time(double t) { fromSec(t); }
|
||||
|
||||
/**
|
||||
* \brief Retrieve the current time. If ROBOT clock time is in use, this returns the time according to the
|
||||
* ROBOT clock. Otherwise returns the current wall clock time.
|
||||
*/
|
||||
static Time now();
|
||||
/**
|
||||
* \brief Sleep until a specific time has been reached.
|
||||
* @return True if the desired sleep time was met, false otherwise.
|
||||
*/
|
||||
static bool sleepUntil(const Time& end);
|
||||
|
||||
static void init();
|
||||
static void shutdown();
|
||||
static void setNow(const Time& new_now);
|
||||
static bool useSystemTime();
|
||||
static bool isSimTime();
|
||||
static bool isSystemTime();
|
||||
|
||||
/**
|
||||
* \brief Returns whether or not the current time source is valid. Simulation time is valid if it is non-zero.
|
||||
*/
|
||||
static bool isValid();
|
||||
/**
|
||||
* \brief Wait for time source to become valid
|
||||
*/
|
||||
static bool waitForValid();
|
||||
/**
|
||||
* \brief Wait for time source to become valid, with timeout
|
||||
*/
|
||||
static bool waitForValid(const robot::WallDuration& timeout);
|
||||
|
||||
// boost::posix_time conversion removed in std-only build
|
||||
};
|
||||
|
||||
extern ROBOT_TIME_DECL const Time TIME_MAX;
|
||||
extern ROBOT_TIME_DECL const Time TIME_MIN;
|
||||
template<> const Time TimeBase<Time, Duration>::MAX;
|
||||
template<> const Time TimeBase<Time, Duration>::MIN;
|
||||
template<> const Time TimeBase<Time, Duration>::ZERO;
|
||||
template<> const Time TimeBase<Time, Duration>::UNINITIALIZED;
|
||||
|
||||
/**
|
||||
* \brief Time representation. Always wall-clock time.
|
||||
*
|
||||
* robot::TimeBase provides most of its functionality.
|
||||
*/
|
||||
class ROBOT_TIME_DECL WallTime : public TimeBase<WallTime, WallDuration>
|
||||
{
|
||||
public:
|
||||
WallTime()
|
||||
: TimeBase<WallTime, WallDuration>()
|
||||
{}
|
||||
|
||||
WallTime(uint32_t _sec, uint32_t _nsec)
|
||||
: TimeBase<WallTime, WallDuration>(_sec, _nsec)
|
||||
{}
|
||||
|
||||
explicit WallTime(double t) { fromSec(t); }
|
||||
|
||||
/**
|
||||
* \brief Returns the current wall clock time.
|
||||
*/
|
||||
static WallTime now();
|
||||
|
||||
/**
|
||||
* \brief Sleep until a specific time has been reached.
|
||||
* @return True if the desired sleep time was met, false otherwise.
|
||||
*/
|
||||
static bool sleepUntil(const WallTime& end);
|
||||
|
||||
static bool isSystemTime() { return true; }
|
||||
};
|
||||
|
||||
template<> const WallTime TimeBase<WallTime, WallDuration>::MAX;
|
||||
template<> const WallTime TimeBase<WallTime, WallDuration>::MIN;
|
||||
template<> const WallTime TimeBase<WallTime, WallDuration>::ZERO;
|
||||
template<> const WallTime TimeBase<WallTime, WallDuration>::UNINITIALIZED;
|
||||
|
||||
/**
|
||||
* \brief Time representation. Always steady-clock time.
|
||||
*
|
||||
* Not affected by ROBOT time.
|
||||
*
|
||||
* robot::TimeBase provides most of its functionality.
|
||||
*/
|
||||
class ROBOT_TIME_DECL SteadyTime : public TimeBase<SteadyTime, WallDuration>
|
||||
{
|
||||
public:
|
||||
SteadyTime()
|
||||
: TimeBase<SteadyTime, WallDuration>()
|
||||
{}
|
||||
|
||||
SteadyTime(uint32_t _sec, uint32_t _nsec)
|
||||
: TimeBase<SteadyTime, WallDuration>(_sec, _nsec)
|
||||
{}
|
||||
|
||||
explicit SteadyTime(double t) { fromSec(t); }
|
||||
|
||||
/**
|
||||
* \brief Returns the current steady (monotonic) clock time.
|
||||
*/
|
||||
static SteadyTime now();
|
||||
|
||||
/**
|
||||
* \brief Sleep until a specific time has been reached.
|
||||
* @return True if the desired sleep time was met, false otherwise.
|
||||
*/
|
||||
static bool sleepUntil(const SteadyTime& end);
|
||||
|
||||
static bool isSystemTime() { return true; }
|
||||
};
|
||||
|
||||
template<> const SteadyTime TimeBase<SteadyTime, WallDuration>::MAX;
|
||||
template<> const SteadyTime TimeBase<SteadyTime, WallDuration>::MIN;
|
||||
template<> const SteadyTime TimeBase<SteadyTime, WallDuration>::ZERO;
|
||||
template<> const SteadyTime TimeBase<SteadyTime, WallDuration>::UNINITIALIZED;
|
||||
|
||||
ROBOT_TIME_DECL std::ostream &operator <<(std::ostream &os, const Time &rhs);
|
||||
ROBOT_TIME_DECL std::ostream &operator <<(std::ostream &os, const WallTime &rhs);
|
||||
ROBOT_TIME_DECL std::ostream &operator <<(std::ostream &os, const SteadyTime &rhs);
|
||||
}
|
||||
|
||||
#endif // ROBOT_TIME_H
|
||||
Reference in New Issue
Block a user