Duration.hpp

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 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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/*
 *  Modified: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *  Modified: Andreas Forster (an.forster@gmail.com)
 */

#ifndef INCLUDE_OKVIS_DURATION_HPP_
#define INCLUDE_OKVIS_DURATION_HPP_

/*********************************************************************
 ** Pragmas
 *********************************************************************/

#ifdef _MSC_VER
// Okvistime has some magic interface that doesn't directly include
// its implementation, this just disbales those warnings.
#pragma warning(disable: 4244)
#pragma warning(disable: 4661)
#endif

#include <iostream>
#include <math.h>
#include <stdexcept>
#include <climits>
#include <stdint.h>
//#include "rostime_decl.h"

namespace okvis {
void normalizeSecNSecSigned(int64_t& sec, int64_t& nsec);
void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);

template<class T>
class DurationBase {
 public:
  int32_t sec, nsec;
  DurationBase()
      : sec(0),
        nsec(0) {
  }
  DurationBase(int32_t _sec, int32_t _nsec);
  explicit DurationBase(double t) {
    fromSec(t);
  }
  ;
  ~DurationBase() {
  }
  T operator+(const T &rhs) const;
  T operator-(const T &rhs) const;
  T operator-() const;
  T operator*(double scale) const;
  T& operator+=(const T &rhs);
  T& operator-=(const T &rhs);
  T& operator*=(double scale);
  bool operator==(const T &rhs) const;
  inline bool operator!=(const T &rhs) const {
    return !(*static_cast<const T*>(this) == rhs);
  }
  bool operator>(const T &rhs) const;
  bool operator<(const T &rhs) const;
  bool operator>=(const T &rhs) const;
  bool operator<=(const T &rhs) const;
  double toSec() const {
    return (double) sec + 1e-9 * (double) nsec;
  }
  ;
  int64_t toNSec() const {
    return (int64_t) sec * 1000000000ll + (int64_t) nsec;
  }
  ;
  T& fromSec(double t);
  T& fromNSec(int64_t t);
  bool isZero();
};

class Rate;

class Duration : public DurationBase<Duration> {
 public:
  Duration()
      : DurationBase<Duration>() {
  }

  Duration(int32_t _sec, int32_t _nsec)
      : DurationBase<Duration>(_sec, _nsec) {
  }

  explicit Duration(double t) {
    fromSec(t);
  }
  explicit Duration(const Rate&);
  bool sleep() const;
};

extern const Duration DURATION_MAX;
extern const Duration DURATION_MIN;

class WallDuration : public DurationBase<WallDuration> {
 public:
  WallDuration()
      : DurationBase<WallDuration>() {
  }

  WallDuration(int32_t _sec, int32_t _nsec)
      : DurationBase<WallDuration>(_sec, _nsec) {
  }

  explicit WallDuration(double t) {
    fromSec(t);
  }
  explicit WallDuration(const Rate&);
  bool sleep() const;
};

std::ostream &operator <<(std::ostream &os, const Duration &rhs);
std::ostream &operator <<(std::ostream &os, const WallDuration &rhs);

}

#endif // INCLUDE_OKVIS_DURATION_HPP_