72 lines
2.0 KiB
C++
72 lines
2.0 KiB
C++
|
/*
|
||
|
|
* Copyright 2016 The Cartographer Authors
|
||
|
|
*
|
||
|
|
* 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.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "cartographer/common/time.h"
|
||
|
|
|
||
|
|
#include <time.h>
|
||
|
|
|
||
|
|
#include <cerrno>
|
||
|
|
#include <cstring>
|
||
|
|
#include <string>
|
||
|
|
|
||
|
|
#include "glog/logging.h"
|
||
|
|
|
||
|
|
namespace cartographer {
|
||
|
|
namespace common {
|
||
|
|
|
||
|
|
Duration FromSeconds(const double seconds) {
|
||
|
|
return std::chrono::duration_cast<Duration>(
|
||
|
|
std::chrono::duration<double>(seconds));
|
||
|
|
}
|
||
|
|
|
||
|
|
double ToSeconds(const Duration duration) {
|
||
|
|
return std::chrono::duration_cast<std::chrono::duration<double>>(duration)
|
||
|
|
.count();
|
||
|
|
}
|
||
|
|
|
||
|
|
double ToSeconds(const std::chrono::steady_clock::duration duration) {
|
||
|
|
return std::chrono::duration_cast<std::chrono::duration<double>>(duration)
|
||
|
|
.count();
|
||
|
|
}
|
||
|
|
|
||
|
|
Time FromUniversal(const int64 ticks) { return Time(Duration(ticks)); }
|
||
|
|
|
||
|
|
int64 ToUniversal(const Time time) { return time.time_since_epoch().count(); }
|
||
|
|
|
||
|
|
std::ostream& operator<<(std::ostream& os, const Time time) {
|
||
|
|
os << std::to_string(ToUniversal(time));
|
||
|
|
return os;
|
||
|
|
}
|
||
|
|
|
||
|
|
common::Duration FromMilliseconds(const int64 milliseconds) {
|
||
|
|
return std::chrono::duration_cast<Duration>(
|
||
|
|
std::chrono::milliseconds(milliseconds));
|
||
|
|
}
|
||
|
|
|
||
|
|
double GetThreadCpuTimeSeconds() {
|
||
|
|
#ifndef WIN32
|
||
|
|
struct timespec thread_cpu_time;
|
||
|
|
CHECK(clock_gettime(CLOCK_THREAD_CPUTIME_ID, &thread_cpu_time) == 0)
|
||
|
|
<< std::strerror(errno);
|
||
|
|
return thread_cpu_time.tv_sec + 1e-9 * thread_cpu_time.tv_nsec;
|
||
|
|
#else
|
||
|
|
return 0.;
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
} // namespace common
|
||
|
|
} // namespace cartographer
|