70 lines
2.2 KiB
C
70 lines
2.2 KiB
C
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/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_COMMON_TIME_H_
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#define CARTOGRAPHER_COMMON_TIME_H_
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#include <chrono>
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#include <ostream>
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#include <ratio>
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#include "cartographer/common/port.h"
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namespace cartographer {
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namespace common {
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constexpr int64 kUtsEpochOffsetFromUnixEpochInSeconds =
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(719162ll * 24ll * 60ll * 60ll);
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struct UniversalTimeScaleClock {
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using rep = int64;
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using period = std::ratio<1, 10000000>;
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using duration = std::chrono::duration<rep, period>;
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using time_point = std::chrono::time_point<UniversalTimeScaleClock>;
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static constexpr bool is_steady = true;
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};
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// Represents Universal Time Scale durations and timestamps which are 64-bit
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// integers representing the 100 nanosecond ticks since the Epoch which is
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// January 1, 1 at the start of day in UTC.
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using Duration = UniversalTimeScaleClock::duration;
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using Time = UniversalTimeScaleClock::time_point;
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// Convenience functions to create common::Durations.
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Duration FromSeconds(double seconds);
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Duration FromMilliseconds(int64 milliseconds);
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// Returns the given duration in seconds.
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double ToSeconds(Duration duration);
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double ToSeconds(std::chrono::steady_clock::duration duration);
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// Creates a time from a Universal Time Scale.
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Time FromUniversal(int64 ticks);
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// Outputs the Universal Time Scale timestamp for a given Time.
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int64 ToUniversal(Time time);
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// For logging and unit tests, outputs the timestamp integer.
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std::ostream& operator<<(std::ostream& os, Time time);
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// CPU time consumed by the thread so far, in seconds.
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double GetThreadCpuTimeSeconds();
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} // namespace common
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} // namespace cartographer
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#endif // CARTOGRAPHER_COMMON_TIME_H_
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