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#ifndef ROBOT_DURATION_H
#define ROBOT_DURATION_H

/*********************************************************************
 ** Pragmas
 *********************************************************************/

#ifdef _MSC_VER
  // Robot_time has some magic interface that doesn't directly include
  // its implementation, this just disbales those warnings.
  #pragma warning(disable: 4244)
  #pragma warning(disable: 4661)
#endif

#include <iostream>
#include <math.h>
#include <stdexcept>
#include <climits>
#include <stdint.h>
#include "robot_time_decl.h"

namespace robot
{
ROBOT_TIME_DECL void normalizeSecNSecSigned(int64_t& sec, int64_t& nsec);
ROBOT_TIME_DECL void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);

/**
 * \brief Base class for Duration implementations.  Provides storage, common functions and operator overloads.
 * This should not need to be used directly.
 */
template <class T>
class DurationBase
{
public:
  int32_t sec, nsec;
  DurationBase() : sec(0), nsec(0) { }
  DurationBase(int32_t _sec, int32_t _nsec);
  explicit DurationBase(double t){fromSec(t);};
  T operator+(const T &rhs) const;
  T operator-(const T &rhs) const;
  T operator-() const;
  T operator*(double scale) const;
  T& operator+=(const T &rhs);
  T& operator-=(const T &rhs);
  T& operator*=(double scale);
  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); };
  int64_t toNSec() const {return static_cast<int64_t>(sec)*1000000000ll + static_cast<int64_t>(nsec);  };
  T& fromSec(double t);
  T& fromNSec(int64_t t);
  bool isZero() const;
  // boost::posix_time conversion removed in std-only build
  static const T MIN; //!< Minimum representable duration (negative)
  static const T MAX; //!< Maximum representable duration
  static const T ZERO; //!< Zero duration
  static const T DAY; //!< One day duration
  static const T HOUR; //!< One hour duration
  static const T MINUTE; //!< One minute duration
  static const T SECOND; //!< One second duration
  static const T MILLISECOND; //!< One millisecond duration
  static const T MICROSECOND; //!< One microsecond duration
  static const T NANOSECOND; //!< One nanosecond duration
};

class Rate;

/**
 * \brief Duration representation for use with the Time class.
 *
 * robot::DurationBase provides most of its functionality.
 */
class ROBOT_TIME_DECL Duration : public DurationBase<Duration>
{
public:
  Duration()
  : DurationBase<Duration>()
  { }

  Duration(int32_t _sec, int32_t _nsec)
  : DurationBase<Duration>(_sec, _nsec)
  {}

  explicit Duration(double t) { fromSec(t); }
  explicit Duration(const Rate&);
  /**
   * \brief sleep for the amount of time specified by this Duration.  If a signal interrupts the sleep, resleeps for the time remaining.
   * @return True if the desired sleep duration was met, false otherwise.
   */
  bool sleep() const;
};

extern ROBOT_TIME_DECL const Duration DURATION_MAX;
extern ROBOT_TIME_DECL const Duration DURATION_MIN;
template<> const Duration DurationBase<Duration>::MAX;
template<> const Duration DurationBase<Duration>::MIN;
template<> const Duration DurationBase<Duration>::ZERO;
template<> const Duration DurationBase<Duration>::DAY;
template<> const Duration DurationBase<Duration>::HOUR;
template<> const Duration DurationBase<Duration>::MINUTE;
template<> const Duration DurationBase<Duration>::SECOND;
template<> const Duration DurationBase<Duration>::MILLISECOND;
template<> const Duration DurationBase<Duration>::MICROSECOND;
template<> const Duration DurationBase<Duration>::NANOSECOND;

/**
 * \brief Duration representation for use with the WallTime class.
 *
 * robot::DurationBase provides most of its functionality.
 */
class ROBOT_TIME_DECL WallDuration : public DurationBase<WallDuration>
{
public:
  WallDuration()
  : DurationBase<WallDuration>()
  { }

  WallDuration(int32_t _sec, int32_t _nsec)
  : DurationBase<WallDuration>(_sec, _nsec)
  {}

  explicit WallDuration(double t) { fromSec(t); }
  explicit WallDuration(const Rate&);
  /**
   * \brief sleep for the amount of time specified by this Duration.  If a signal interrupts the sleep, resleeps for the time remaining.
   * @return True if the desired sleep duration was met, false otherwise.
   */
  bool sleep() const;
};

template<> const WallDuration DurationBase<WallDuration>::MAX;
template<> const WallDuration DurationBase<WallDuration>::MIN;
template<> const WallDuration DurationBase<WallDuration>::ZERO;
template<> const WallDuration DurationBase<WallDuration>::DAY;
template<> const WallDuration DurationBase<WallDuration>::HOUR;
template<> const WallDuration DurationBase<WallDuration>::MINUTE;
template<> const WallDuration DurationBase<WallDuration>::SECOND;
template<> const WallDuration DurationBase<WallDuration>::MILLISECOND;
template<> const WallDuration DurationBase<WallDuration>::MICROSECOND;
template<> const WallDuration DurationBase<WallDuration>::NANOSECOND;

ROBOT_TIME_DECL std::ostream &operator <<(std::ostream &os, const Duration &rhs);
ROBOT_TIME_DECL std::ostream &operator <<(std::ostream &os, const WallDuration &rhs);

}

#endif // ROBOT_DURATION_H