302 lines
10 KiB
C++
302 lines
10 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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#ifndef ROBOT_TIME_H_INCLUDED
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#define ROBOT_TIME_H_INCLUDED
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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 disables 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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/*********************************************************************
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** Headers
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*********************************************************************/
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#include <robot/platform.h>
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#include <iostream>
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#include <cmath>
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#include <robot/exception.h>
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#include "duration.h"
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#include "robot_time_decl.h"
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/*********************************************************************
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** Cross Platform Headers
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*********************************************************************/
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#if defined(_WIN32)
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#include <sys/timeb.h>
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#else
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#include <sys/time.h>
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#endif
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namespace robot
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{
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/*********************************************************************
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** Exceptions
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*********************************************************************/
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/**
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* @brief Thrown if the robot subsystem hasn't been initialised before use.
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*/
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class ROBOT_TIME_DECL TimeNotInitializedException : public Exception
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{
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public:
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TimeNotInitializedException()
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: Exception("Cannot use robot::Time::now() before the first NodeHandle has been created or robot::start() has been called. "
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"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()")
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{}
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};
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/**
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* @brief Thrown if windows high perf. timestamping is unavailable.
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*
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* @sa getWallTime
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*/
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class ROBOT_TIME_DECL NoHighPerformanceTimersException : public Exception
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{
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public:
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NoHighPerformanceTimersException()
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: Exception("This windows platform does not "
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"support the high-performance timing api.")
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{}
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};
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/*********************************************************************
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** Functions
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*********************************************************************/
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ROBOT_TIME_DECL void normalizeSecNSec(uint64_t& sec, uint64_t& nsec);
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ROBOT_TIME_DECL void normalizeSecNSec(uint32_t& sec, uint32_t& nsec);
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ROBOT_TIME_DECL void normalizeSecNSecUnsigned(int64_t& sec, int64_t& nsec);
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ROBOT_TIME_DECL void robot_walltime(uint32_t& sec, uint32_t& nsec);
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ROBOT_TIME_DECL void robot_steadytime(uint32_t& sec, uint32_t& nsec);
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/*********************************************************************
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** Time Classes
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*********************************************************************/
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/**
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* \brief Base class for Time 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, class D>
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class TimeBase
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{
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public:
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uint32_t sec, nsec;
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TimeBase() : sec(0), nsec(0) { }
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TimeBase(uint32_t _sec, uint32_t _nsec) : sec(_sec), nsec(_nsec)
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{
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normalizeSecNSec(sec, nsec);
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}
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explicit TimeBase(double t) { fromSec(t); }
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D operator-(const T &rhs) const;
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T operator+(const D &rhs) const;
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T operator-(const D &rhs) const;
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T& operator+=(const D &rhs);
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T& operator-=(const D &rhs);
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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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T& fromSec(double t);
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uint64_t toNSec() const {return static_cast<uint64_t>(sec)*1000000000ull + static_cast<uint64_t>(nsec); }
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T& fromNSec(uint64_t t);
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inline bool isZero() const { return sec == 0 && nsec == 0; }
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inline bool is_zero() const { return isZero(); }
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// boost::posix_time conversion removed in std-only build
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static const T MIN; //!< Minimum representable time
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static const T MAX; //!< Maximum representable time
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static const T ZERO; //!< Zero (invalid) time
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static const T UNINITIALIZED; //!< Uninitialized time
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};
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/**
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* \brief Time representation. May either represent wall clock time or ROBOT clock time.
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*
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* robot::TimeBase provides most of its functionality.
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*/
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class ROBOT_TIME_DECL Time : public TimeBase<Time, Duration>
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{
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public:
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Time()
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: TimeBase<Time, Duration>()
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{}
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Time(uint32_t _sec, uint32_t _nsec)
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: TimeBase<Time, Duration>(_sec, _nsec)
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{}
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explicit Time(double t) { fromSec(t); }
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/**
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* \brief Retrieve the current time. If ROBOT clock time is in use, this returns the time according to the
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* ROBOT clock. Otherwise returns the current wall clock time.
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*/
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static Time now();
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/**
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* \brief Sleep until a specific time has been reached.
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* @return True if the desired sleep time was met, false otherwise.
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*/
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static bool sleepUntil(const Time& end);
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static void init();
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static void shutdown();
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static void setNow(const Time& new_now);
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static bool useSystemTime();
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static bool isSimTime();
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static bool isSystemTime();
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/**
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* \brief Returns whether or not the current time source is valid. Simulation time is valid if it is non-zero.
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*/
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static bool isValid();
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/**
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* \brief Wait for time source to become valid
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*/
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static bool waitForValid();
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/**
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* \brief Wait for time source to become valid, with timeout
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*/
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static bool waitForValid(const robot::WallDuration& timeout);
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// boost::posix_time conversion removed in std-only build
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};
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extern ROBOT_TIME_DECL const Time TIME_MAX;
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extern ROBOT_TIME_DECL const Time TIME_MIN;
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template<> const Time TimeBase<Time, Duration>::MAX;
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template<> const Time TimeBase<Time, Duration>::MIN;
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template<> const Time TimeBase<Time, Duration>::ZERO;
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template<> const Time TimeBase<Time, Duration>::UNINITIALIZED;
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/**
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* \brief Time representation. Always wall-clock time.
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*
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* robot::TimeBase provides most of its functionality.
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*/
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class ROBOT_TIME_DECL WallTime : public TimeBase<WallTime, WallDuration>
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{
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public:
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WallTime()
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: TimeBase<WallTime, WallDuration>()
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{}
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WallTime(uint32_t _sec, uint32_t _nsec)
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: TimeBase<WallTime, WallDuration>(_sec, _nsec)
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{}
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explicit WallTime(double t) { fromSec(t); }
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/**
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* \brief Returns the current wall clock time.
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*/
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static WallTime now();
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/**
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* \brief Sleep until a specific time has been reached.
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* @return True if the desired sleep time was met, false otherwise.
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*/
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static bool sleepUntil(const WallTime& end);
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static bool isSystemTime() { return true; }
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};
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template<> const WallTime TimeBase<WallTime, WallDuration>::MAX;
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template<> const WallTime TimeBase<WallTime, WallDuration>::MIN;
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template<> const WallTime TimeBase<WallTime, WallDuration>::ZERO;
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template<> const WallTime TimeBase<WallTime, WallDuration>::UNINITIALIZED;
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/**
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* \brief Time representation. Always steady-clock time.
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*
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* Not affected by ROBOT time.
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*
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* robot::TimeBase provides most of its functionality.
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*/
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class ROBOT_TIME_DECL SteadyTime : public TimeBase<SteadyTime, WallDuration>
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{
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public:
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SteadyTime()
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: TimeBase<SteadyTime, WallDuration>()
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{}
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SteadyTime(uint32_t _sec, uint32_t _nsec)
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: TimeBase<SteadyTime, WallDuration>(_sec, _nsec)
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{}
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explicit SteadyTime(double t) { fromSec(t); }
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/**
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* \brief Returns the current steady (monotonic) clock time.
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*/
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static SteadyTime now();
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/**
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* \brief Sleep until a specific time has been reached.
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* @return True if the desired sleep time was met, false otherwise.
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*/
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static bool sleepUntil(const SteadyTime& end);
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static bool isSystemTime() { return true; }
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};
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template<> const SteadyTime TimeBase<SteadyTime, WallDuration>::MAX;
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template<> const SteadyTime TimeBase<SteadyTime, WallDuration>::MIN;
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template<> const SteadyTime TimeBase<SteadyTime, WallDuration>::ZERO;
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template<> const SteadyTime TimeBase<SteadyTime, WallDuration>::UNINITIALIZED;
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ROBOT_TIME_DECL std::ostream &operator <<(std::ostream &os, const Time &rhs);
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ROBOT_TIME_DECL std::ostream &operator <<(std::ostream &os, const WallTime &rhs);
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ROBOT_TIME_DECL std::ostream &operator <<(std::ostream &os, const SteadyTime &rhs);
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}
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#endif // ROBOT_TIME_H
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