70 lines
2.2 KiB
C++
Executable File
70 lines
2.2 KiB
C++
Executable File
/*
|
|
* 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.
|
|
*/
|
|
|
|
#ifndef CARTOGRAPHER_COMMON_TIME_H_
|
|
#define CARTOGRAPHER_COMMON_TIME_H_
|
|
|
|
#include <chrono>
|
|
#include <ostream>
|
|
#include <ratio>
|
|
|
|
#include "cartographer/common/port.h"
|
|
|
|
namespace cartographer {
|
|
namespace common {
|
|
|
|
constexpr int64 kUtsEpochOffsetFromUnixEpochInSeconds =
|
|
(719162ll * 24ll * 60ll * 60ll);
|
|
|
|
struct UniversalTimeScaleClock {
|
|
using rep = int64;
|
|
using period = std::ratio<1, 10000000>;
|
|
using duration = std::chrono::duration<rep, period>;
|
|
using time_point = std::chrono::time_point<UniversalTimeScaleClock>;
|
|
static constexpr bool is_steady = true;
|
|
};
|
|
|
|
// Represents Universal Time Scale durations and timestamps which are 64-bit
|
|
// integers representing the 100 nanosecond ticks since the Epoch which is
|
|
// January 1, 1 at the start of day in UTC.
|
|
using Duration = UniversalTimeScaleClock::duration;
|
|
using Time = UniversalTimeScaleClock::time_point;
|
|
|
|
// Convenience functions to create common::Durations.
|
|
Duration FromSeconds(double seconds);
|
|
Duration FromMilliseconds(int64 milliseconds);
|
|
|
|
// Returns the given duration in seconds.
|
|
double ToSeconds(Duration duration);
|
|
double ToSeconds(std::chrono::steady_clock::duration duration);
|
|
|
|
// Creates a time from a Universal Time Scale.
|
|
Time FromUniversal(int64 ticks);
|
|
|
|
// Outputs the Universal Time Scale timestamp for a given Time.
|
|
int64 ToUniversal(Time time);
|
|
|
|
// For logging and unit tests, outputs the timestamp integer.
|
|
std::ostream& operator<<(std::ostream& os, Time time);
|
|
|
|
// CPU time consumed by the thread so far, in seconds.
|
|
double GetThreadCpuTimeSeconds();
|
|
|
|
} // namespace common
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_COMMON_TIME_H_
|