500 lines
18 KiB
C++
500 lines
18 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef _GAZEBO_COMMON_TIME_HH_
|
||
|
|
#define _GAZEBO_COMMON_TIME_HH_
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
#include <stdlib.h>
|
||
|
|
#include <time.h>
|
||
|
|
#include <iostream>
|
||
|
|
|
||
|
|
#include "gazebo/common/CommonTypes.hh"
|
||
|
|
#include "gazebo/util/system.hh"
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
namespace common
|
||
|
|
{
|
||
|
|
/// \brief Convert seconds to hours. This divides the given value by
|
||
|
|
/// the number of seconds in an hour, which is 3600.
|
||
|
|
/// \param[in] _s Seconds to convert.
|
||
|
|
#define GZ_SEC_TO_HOUR(_s) ((_s) / 3600.0)
|
||
|
|
|
||
|
|
/// \addtogroup gazebo_common
|
||
|
|
/// \{
|
||
|
|
|
||
|
|
/// \class Time Time.hh common/common.hh
|
||
|
|
/// \brief A Time class, can be used to hold wall- or sim-time.
|
||
|
|
/// stored as sec and nano-sec.
|
||
|
|
class GZ_COMMON_VISIBLE Time
|
||
|
|
{
|
||
|
|
/// \brief A static zero time variable set to common::Time(0, 0).
|
||
|
|
public: static const Time Zero;
|
||
|
|
|
||
|
|
/// \brief A static time variable set to a second: common::Time(1, 0).
|
||
|
|
public: static const Time Second;
|
||
|
|
|
||
|
|
/// \brief A static time variable set to an hour: common::Time(3600, 0).
|
||
|
|
public: static const Time Hour;
|
||
|
|
|
||
|
|
/// \enum Format options
|
||
|
|
/// \brief Options for formatting time as a string.
|
||
|
|
public: enum FormatOption
|
||
|
|
{
|
||
|
|
/// \brief Days
|
||
|
|
DAYS = 0,
|
||
|
|
/// \brief Hours
|
||
|
|
HOURS = 1,
|
||
|
|
/// \brief Minutes
|
||
|
|
MINUTES = 2,
|
||
|
|
/// \brief Seconds
|
||
|
|
SECONDS = 3,
|
||
|
|
/// \brief Milliseconds
|
||
|
|
MILLISECONDS = 4
|
||
|
|
};
|
||
|
|
|
||
|
|
/// \brief Constructors
|
||
|
|
public: Time();
|
||
|
|
|
||
|
|
/// \brief Copy constructor
|
||
|
|
/// \param[in] time Time to copy
|
||
|
|
public: Time(const Time &_time);
|
||
|
|
|
||
|
|
/// \brief Constructor
|
||
|
|
/// \param[in] _tv Time to initialize to
|
||
|
|
public: Time(const struct timeval &_tv);
|
||
|
|
|
||
|
|
/// \brief Constructor
|
||
|
|
/// \param[in] _tv Time to initialize to
|
||
|
|
public: Time(const struct timespec &_tv);
|
||
|
|
|
||
|
|
/// \brief Constructor
|
||
|
|
/// \param[in] _sec Seconds
|
||
|
|
/// \param[in] _nsec Nanoseconds
|
||
|
|
public: Time(int32_t _sec, int32_t _nsec);
|
||
|
|
|
||
|
|
/// \brief Constuctor
|
||
|
|
/// \param[in] _time Time in double format sec.nsec
|
||
|
|
public: Time(double _time);
|
||
|
|
|
||
|
|
/// \brief Destructor
|
||
|
|
public: virtual ~Time();
|
||
|
|
|
||
|
|
/// \brief Get a Time object that represents the maximum amount of time
|
||
|
|
/// that this class can represent.
|
||
|
|
/// \return The largest duration of time that can be represented by this
|
||
|
|
/// data structure. This is approximately 68 years.
|
||
|
|
public: static Time Maximum();
|
||
|
|
|
||
|
|
/// \brief Get the wall time
|
||
|
|
/// \return the current time
|
||
|
|
public: static const Time &GetWallTime();
|
||
|
|
|
||
|
|
/// \brief Get the wall time as an ISO string: YYYY-MM-DDTHH:MM:SS
|
||
|
|
/// \return The current wall time as an ISO string.
|
||
|
|
public: static const std::string &GetWallTimeAsISOString();
|
||
|
|
|
||
|
|
/// \brief Set the time to the wall time
|
||
|
|
public: void SetToWallTime();
|
||
|
|
|
||
|
|
/// \brief Set to sec and nsec
|
||
|
|
/// \param[in] _sec Seconds
|
||
|
|
/// \param[in] _nsec Nanoseconds
|
||
|
|
public: void Set(int32_t _sec, int32_t _nsec);
|
||
|
|
|
||
|
|
/// \brief Set to seconds
|
||
|
|
/// \param[in] _seconds Number of seconds
|
||
|
|
public: void Set(double _seconds);
|
||
|
|
|
||
|
|
/// \brief Get the time as a double
|
||
|
|
/// \return Time as a double in seconds
|
||
|
|
public: double Double() const;
|
||
|
|
|
||
|
|
/// \brief Get the time as a float
|
||
|
|
/// \return Time as a float in seconds
|
||
|
|
public: float Float() const;
|
||
|
|
|
||
|
|
/// \brief Get the time as a string formatted as "DD hh:mm:ss.mmm", with
|
||
|
|
/// the option to choose the start/end.
|
||
|
|
/// \param[in] _start Start point.
|
||
|
|
/// \param[in] _end End point.
|
||
|
|
/// \return String representing time.
|
||
|
|
public: std::string FormattedString(FormatOption _start = DAYS,
|
||
|
|
FormatOption _end = MILLISECONDS) const;
|
||
|
|
|
||
|
|
/// \brief Sleep for the specified time
|
||
|
|
/// \param[in] _time Sleep time
|
||
|
|
/// \return Time actually slept
|
||
|
|
public: static Time Sleep(const common::Time &_time);
|
||
|
|
|
||
|
|
/// \brief Millisecond sleep
|
||
|
|
/// \param[in] _ms milliseconds
|
||
|
|
/// \return Time actually slept
|
||
|
|
public: static Time MSleep(unsigned int _ms);
|
||
|
|
|
||
|
|
/// \brief Nano sleep
|
||
|
|
/// \param[in] _ns nanoseconds
|
||
|
|
/// \return Time actually slept
|
||
|
|
public: static Time NSleep(unsigned int _ns);
|
||
|
|
|
||
|
|
/// \brief Assignment operator
|
||
|
|
/// \param[in] _tv the new time
|
||
|
|
/// \return a reference to this instance
|
||
|
|
public: Time &operator =(const struct timeval &_tv);
|
||
|
|
|
||
|
|
/// \brief Assignment operator
|
||
|
|
/// \param[in] _tv the new time
|
||
|
|
/// \return a reference to this instance
|
||
|
|
public: Time &operator =(const struct timespec &_tv);
|
||
|
|
|
||
|
|
/// \brief Assignment operator
|
||
|
|
/// \param[in] _time the new time
|
||
|
|
/// \return a reference to this instance
|
||
|
|
public: Time &operator =(const Time &_time);
|
||
|
|
|
||
|
|
/// \brief Addition operators
|
||
|
|
/// \param[in] _tv the time to add
|
||
|
|
/// \return a Time instance
|
||
|
|
public: Time operator +(const struct timeval &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Addition operators
|
||
|
|
/// \param[in] _tv the time to add
|
||
|
|
/// \return a Time instance
|
||
|
|
public: Time operator +(const struct timespec &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Addition assignment operator
|
||
|
|
/// \param[in] _tv the time to add
|
||
|
|
/// \return a reference to this instance
|
||
|
|
public: const Time &operator +=(const struct timeval &_tv);
|
||
|
|
|
||
|
|
/// \brief Addition assignment operator
|
||
|
|
/// \param[in] _tv the time to add
|
||
|
|
/// \return a reference to this instance
|
||
|
|
public: const Time &operator +=(const struct timespec &_tv);
|
||
|
|
|
||
|
|
/// \brief Addition operators
|
||
|
|
/// \param[in] _time The time to add
|
||
|
|
/// \return a Time instance
|
||
|
|
public: Time operator +(const Time &_time) const;
|
||
|
|
|
||
|
|
/// \brief Addition assignemtn operator
|
||
|
|
/// \param[in] _time The time to add
|
||
|
|
/// \return a Time instance
|
||
|
|
public: const Time &operator +=(const Time &_time);
|
||
|
|
|
||
|
|
/// \brief Subtraction operator
|
||
|
|
/// \param[in] _tv The time to subtract
|
||
|
|
/// \return a Time instance
|
||
|
|
public: Time operator -(const struct timeval &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Subtraction assignment operator
|
||
|
|
/// \param[in] _tv The time to subtract
|
||
|
|
/// \return a Time instance
|
||
|
|
public: const Time &operator -=(const struct timeval &_tv);
|
||
|
|
|
||
|
|
/// \brief Subtraction operator
|
||
|
|
/// \param[in] _tv The time to subtract
|
||
|
|
/// \return a Time instance
|
||
|
|
public: Time operator -(const struct timespec &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Subtraction assignment operator
|
||
|
|
/// \param[in] _tv The time to subtract
|
||
|
|
/// \return a Time instance
|
||
|
|
public: const Time &operator -=(const struct timespec &_tv);
|
||
|
|
|
||
|
|
/// \brief Subtraction operator
|
||
|
|
/// \param[in] _time The time to subtract
|
||
|
|
/// \return a Time instance
|
||
|
|
public: Time operator -(const Time &_time) const;
|
||
|
|
|
||
|
|
/// \brief Subtraction assignment operator
|
||
|
|
/// \param[in] _time The time to subtract
|
||
|
|
/// \return a reference to this instance
|
||
|
|
public: const Time &operator -=(const Time &_time);
|
||
|
|
|
||
|
|
/// \brief Multiplication operator
|
||
|
|
/// \param[in] _tv The scaling duration
|
||
|
|
/// \return Time instance
|
||
|
|
public: Time operator *(const struct timeval &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Multiplication assignment operator
|
||
|
|
/// \param[in] _tv the scaling duration
|
||
|
|
/// \return a reference to this instance
|
||
|
|
public: const Time &operator *=(const struct timeval &_tv);
|
||
|
|
|
||
|
|
/// \brief Multiplication operator
|
||
|
|
/// \param[in] _tv the scaling duration
|
||
|
|
/// \return Time instance
|
||
|
|
public: Time operator *(const struct timespec &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Multiplication assignment operator
|
||
|
|
/// \param[in] _tv the scaling duration
|
||
|
|
/// \return a reference to this instance
|
||
|
|
public: const Time &operator *=(const struct timespec &_tv);
|
||
|
|
|
||
|
|
/// \brief Multiplication operators
|
||
|
|
/// \param[in] _time the scaling factor
|
||
|
|
/// \return a scaled Time instance
|
||
|
|
public: Time operator *(const Time &_time) const;
|
||
|
|
|
||
|
|
/// \brief Multiplication operators
|
||
|
|
/// \param[in] _time scale factor
|
||
|
|
/// \return a scaled Time instance
|
||
|
|
public: const Time &operator *=(const Time &_time);
|
||
|
|
|
||
|
|
/// \brief Division operator
|
||
|
|
/// \param[in] _tv a timeval divisor
|
||
|
|
/// \return a Time instance
|
||
|
|
public: Time operator /(const struct timeval &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Division assignment operator
|
||
|
|
/// \param[in] _tv a divisor
|
||
|
|
/// \return a Time instance
|
||
|
|
public: const Time &operator /=(const struct timeval &_tv);
|
||
|
|
|
||
|
|
/// \brief Division operator
|
||
|
|
/// \param[in] _tv a timespec divisor
|
||
|
|
/// \return a Time instance
|
||
|
|
public: Time operator /(const struct timespec &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Division assignment operator
|
||
|
|
/// \param[in] _tv a divisor
|
||
|
|
/// \return a Time instance
|
||
|
|
public: const Time &operator /=(const struct timespec &_tv);
|
||
|
|
|
||
|
|
/// \brief Division operator
|
||
|
|
/// \param[in] _time the divisor
|
||
|
|
/// \return a Time instance
|
||
|
|
public: Time operator /(const Time &_time) const;
|
||
|
|
|
||
|
|
/// \brief Division assignment operator
|
||
|
|
/// \param[in] time the divisor
|
||
|
|
/// \return a Time instance
|
||
|
|
public: const Time &operator /=(const Time &time);
|
||
|
|
|
||
|
|
/// \brief Equal to operator
|
||
|
|
/// \param[in] _tv the time to compare to
|
||
|
|
/// \return true if values are the same, false otherwise
|
||
|
|
public: bool operator ==(const struct timeval &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Equal to operator
|
||
|
|
/// \param[in] _tv the time to compare to
|
||
|
|
/// \return true if values are the same, false otherwise
|
||
|
|
public: bool operator ==(const struct timespec &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Equal to operator
|
||
|
|
/// \param[in] _time the time to compare to
|
||
|
|
/// \return true if values are the same, false otherwise
|
||
|
|
public: bool operator ==(const Time &_time) const;
|
||
|
|
|
||
|
|
/// \brief Equal to operator
|
||
|
|
/// \param[in] _time the time to compare to
|
||
|
|
/// \return true if values are the same, false otherwise
|
||
|
|
public: bool operator ==(double _time) const;
|
||
|
|
|
||
|
|
/// \brief Equal to operator
|
||
|
|
/// \param[in] _tv the time to compare to
|
||
|
|
/// \return true if values are the same, false otherwise
|
||
|
|
public: bool operator!=(const struct timeval &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Equal to operator
|
||
|
|
/// \param[in] _tv the time to compare to
|
||
|
|
/// \return true if values are the same, false otherwise
|
||
|
|
public: bool operator!=(const struct timespec &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Equal to operator
|
||
|
|
/// \param[in] _time the time to compare to
|
||
|
|
/// \return true if values are the same, false otherwise
|
||
|
|
public: bool operator!=(const Time &_time) const;
|
||
|
|
|
||
|
|
/// \brief Equal to operator
|
||
|
|
/// \param[in] _time the time to compare to
|
||
|
|
/// \return true if values are the same, false otherwise
|
||
|
|
public: bool operator!=(double _time) const;
|
||
|
|
|
||
|
|
/// \brief Less than operator
|
||
|
|
/// \param[in] _tv the time to compare with
|
||
|
|
/// \return true if tv is shorter than this, false otherwise
|
||
|
|
public: bool operator<(const struct timeval &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Less than operator
|
||
|
|
/// \param[in] _tv the time to compare with
|
||
|
|
/// \return true if tv is shorter than this, false otherwise
|
||
|
|
public: bool operator<(const struct timespec &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Less than operator
|
||
|
|
/// \param[in] _time the time to compare with
|
||
|
|
/// \return true if time is shorter than this, false otherwise
|
||
|
|
public: bool operator<(const Time &_time) const;
|
||
|
|
|
||
|
|
/// \brief Less than operator
|
||
|
|
/// \param[in] _time the time to compare with
|
||
|
|
/// \return true if time is shorter than this, false otherwise
|
||
|
|
public: bool operator<(double _time) const;
|
||
|
|
|
||
|
|
/// \brief Less than or equal to operator
|
||
|
|
/// \param[in] _tv the time to compare with
|
||
|
|
/// \return true if tv is shorter than or equal to this, false otherwise
|
||
|
|
public: bool operator<=(const struct timeval &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Less than or equal to operator
|
||
|
|
/// \param[in] _tv the time to compare with
|
||
|
|
/// \return true if tv is shorter than or equal to this, false otherwise
|
||
|
|
public: bool operator<=(const struct timespec &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Less than or equal to operator
|
||
|
|
/// \param[in] _time the time to compare with
|
||
|
|
/// \return true if time is shorter than or equal to this, false otherwise
|
||
|
|
public: bool operator<=(const Time &_time) const;
|
||
|
|
|
||
|
|
/// \brief Less than or equal to operator
|
||
|
|
/// \param[in] _time the time to compare with
|
||
|
|
/// \return true if time is shorter than or equal to this, false otherwise
|
||
|
|
public: bool operator<=(double _time) const;
|
||
|
|
|
||
|
|
/// \brief Greater than operator
|
||
|
|
/// \param[in] _tv the time to compare with
|
||
|
|
/// \return true if time is greater than this, false otherwise
|
||
|
|
public: bool operator>(const struct timeval &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Greater than operator
|
||
|
|
/// \param[in] _tv the time to compare with
|
||
|
|
/// \return true if time is greater than this, false otherwise
|
||
|
|
public: bool operator>(const struct timespec &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Greater than operator
|
||
|
|
/// \param[in] _time the time to compare with
|
||
|
|
/// \return true if time is greater than this, false otherwise
|
||
|
|
public: bool operator>(const Time &_time) const;
|
||
|
|
|
||
|
|
/// \brief Greater than operator
|
||
|
|
/// \param[in] _time the time to compare with
|
||
|
|
/// \return true if time is greater than this, false otherwise
|
||
|
|
public: bool operator>(double _time) const;
|
||
|
|
|
||
|
|
/// \brief Greater than or equal operator
|
||
|
|
/// \param[in] _tv the time to compare with
|
||
|
|
/// \return true if tv is greater than or equal to this, false otherwise
|
||
|
|
public: bool operator>=(const struct timeval &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Greater than or equal operator
|
||
|
|
/// \param[in] _tv the time to compare with
|
||
|
|
/// \return true if tv is greater than or equal to this, false otherwise
|
||
|
|
public: bool operator>=(const struct timespec &_tv) const;
|
||
|
|
|
||
|
|
/// \brief Greater than or equal operator
|
||
|
|
/// \param[in] _time the time to compare with
|
||
|
|
/// \return true if time is greater than or equal to this, false otherwise
|
||
|
|
public: bool operator>=(const Time &_time) const;
|
||
|
|
|
||
|
|
/// \brief Greater than or equal operator
|
||
|
|
/// \param[in] _time the time to compare with
|
||
|
|
/// \return true if time is greater than or equal to this, false otherwise
|
||
|
|
public: bool operator>=(double _time) const;
|
||
|
|
|
||
|
|
/// \brief Convert seconds to nanoseconds
|
||
|
|
/// \param[in] _sec duration in seconds
|
||
|
|
/// \return nanoseconds
|
||
|
|
public: static inline double SecToNano(double _sec)
|
||
|
|
{ return _sec * 1e9;}
|
||
|
|
|
||
|
|
/// \brief Convert milliseconds to nanoseconds
|
||
|
|
/// \param[in] _ms milliseconds
|
||
|
|
/// \return nanoseconds
|
||
|
|
public: static inline double MilToNano(double _ms)
|
||
|
|
{ return _ms * 1e6;}
|
||
|
|
|
||
|
|
/// \brief Convert microseconds to nanoseconds
|
||
|
|
/// \param _ms microseconds
|
||
|
|
/// \return nanoseconds
|
||
|
|
public: static inline double MicToNano(double _ms)
|
||
|
|
{ return _ms * 1e3;}
|
||
|
|
|
||
|
|
/// \brief Stream insertion operator
|
||
|
|
/// \param[in] _out the output stream
|
||
|
|
/// \param[in] _time time to write to the stream
|
||
|
|
/// \return the output stream
|
||
|
|
public: friend std::ostream &operator<<(std::ostream &_out,
|
||
|
|
const gazebo::common::Time &_time)
|
||
|
|
{
|
||
|
|
_out << _time.sec << " " << _time.nsec;
|
||
|
|
return _out;
|
||
|
|
}
|
||
|
|
|
||
|
|
/// \brief Stream extraction operator
|
||
|
|
/// \param[in] _in the input stream
|
||
|
|
/// \param[in] _time time to read from to the stream
|
||
|
|
/// \return the input stream
|
||
|
|
public: friend std::istream &operator>>(std::istream &_in,
|
||
|
|
gazebo::common::Time &_time)
|
||
|
|
{
|
||
|
|
// Skip white spaces
|
||
|
|
_in.setf(std::ios_base::skipws);
|
||
|
|
_in >> _time.sec >> _time.nsec;
|
||
|
|
return _in;
|
||
|
|
}
|
||
|
|
|
||
|
|
/// \brief Seconds
|
||
|
|
public: int32_t sec;
|
||
|
|
|
||
|
|
/// \brief Nanoseconds
|
||
|
|
public: int32_t nsec;
|
||
|
|
|
||
|
|
/// \brief Constant multiplier to convert from nanoseconds to seconds.
|
||
|
|
public: static const int32_t nsInSec;
|
||
|
|
|
||
|
|
/// \brief Constant multiplier to convert from nanoseconds to
|
||
|
|
/// milliseconds.
|
||
|
|
public: static const int32_t nsInMs;
|
||
|
|
|
||
|
|
/// \brief a singleton value of the last GetWallTime() value
|
||
|
|
private: static Time wallTime;
|
||
|
|
|
||
|
|
/// \brief Wall time as an ISO string.
|
||
|
|
private: static std::string wallTimeISO;
|
||
|
|
|
||
|
|
/// \brief Correct the time so that small additions/substractions
|
||
|
|
/// preserve the internal seconds and nanoseconds separation
|
||
|
|
private: inline void Correct()
|
||
|
|
{
|
||
|
|
// In the case sec and nsec have different signs, normalize
|
||
|
|
if (this->sec > 0 && this->nsec < 0)
|
||
|
|
{
|
||
|
|
int32_t n = abs(this->nsec / this->nsInSec) + 1;
|
||
|
|
this->sec -= n;
|
||
|
|
this->nsec += n * this->nsInSec;
|
||
|
|
}
|
||
|
|
if (this->sec < 0 && this->nsec > 0)
|
||
|
|
{
|
||
|
|
int32_t n = abs(this->nsec / this->nsInSec) + 1;
|
||
|
|
this->sec += n;
|
||
|
|
this->nsec -= n * this->nsInSec;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Make any corrections
|
||
|
|
this->sec += this->nsec / this->nsInSec;
|
||
|
|
this->nsec = this->nsec % this->nsInSec;
|
||
|
|
}
|
||
|
|
|
||
|
|
private: static struct timespec clockResolution;
|
||
|
|
};
|
||
|
|
/// \}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
#endif
|