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duration.hpp
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147 lines (116 loc) · 4 KB
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// Copyright 2017 Open Source Robotics Foundation, Inc.
//
// 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 RCLCPP__DURATION_HPP_
#define RCLCPP__DURATION_HPP_
#include <chrono>
#include "builtin_interfaces/msg/duration.hpp"
#include "rcl/time.h"
#include "rclcpp/visibility_control.hpp"
namespace rclcpp
{
class RCLCPP_PUBLIC Duration
{
public:
/// Duration constructor.
/**
* Initializes the time values for seconds and nanoseconds individually.
* Large values for nsecs are wrapped automatically with the remainder added to secs.
* Both inputs must be integers.
* Seconds can be negative.
*
* \param seconds time in seconds
* \param nanoseconds time in nanoseconds
*/
Duration(int32_t seconds, uint32_t nanoseconds);
// This constructor matches any numeric value - ints or floats.
explicit Duration(rcl_duration_value_t nanoseconds);
// This constructor matches std::chrono::nanoseconds.
explicit Duration(std::chrono::nanoseconds nanoseconds);
// This constructor matches any std::chrono value other than nanoseconds
// intentionally not using explicit to create a conversion constructor
template<class Rep, class Period>
// cppcheck-suppress noExplicitConstructor
Duration(const std::chrono::duration<Rep, Period> & duration) // NOLINT(runtime/explicit)
: Duration(std::chrono::duration_cast<std::chrono::nanoseconds>(duration))
{}
// cppcheck-suppress noExplicitConstructor
Duration(const builtin_interfaces::msg::Duration & duration_msg); // NOLINT(runtime/explicit)
/// Time constructor
/**
* \param duration rcl_duration_t structure to copy.
*/
explicit Duration(const rcl_duration_t & duration);
Duration(const Duration & rhs);
virtual ~Duration() = default;
operator builtin_interfaces::msg::Duration() const;
// cppcheck-suppress operatorEq // this is a false positive from cppcheck
Duration &
operator=(const Duration & rhs);
Duration &
operator=(const builtin_interfaces::msg::Duration & duration_msg);
bool
operator==(const rclcpp::Duration & rhs) const;
bool
operator<(const rclcpp::Duration & rhs) const;
bool
operator<=(const rclcpp::Duration & rhs) const;
bool
operator>=(const rclcpp::Duration & rhs) const;
bool
operator>(const rclcpp::Duration & rhs) const;
Duration
operator+(const rclcpp::Duration & rhs) const;
Duration
operator-(const rclcpp::Duration & rhs) const;
/// Get the maximum representable value.
/**
* \return the maximum representable value
*/
static
Duration
max();
Duration
operator*(double scale) const;
/// Get duration in nanosecods
/**
* \return the duration in nanoseconds as a rcl_duration_value_t.
*/
rcl_duration_value_t
nanoseconds() const;
/// Get duration in seconds
/**
* \warning Depending on sizeof(double) there could be significant precision loss.
* When an exact time is required use nanoseconds() instead.
* \return the duration in seconds as a floating point number.
*/
double
seconds() const;
/// Create a duration object from a floating point number representing seconds
static Duration
from_seconds(double seconds);
/// Convert Duration into a std::chrono::Duration.
template<class DurationT>
DurationT
to_chrono() const
{
return std::chrono::duration_cast<DurationT>(std::chrono::nanoseconds(this->nanoseconds()));
}
/// Convert Duration into rmw_time_t.
rmw_time_t
to_rmw_time() const;
private:
rcl_duration_t rcl_duration_;
};
} // namespace rclcpp
#endif // RCLCPP__DURATION_HPP_