duration.hpp

// 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 "builtin_interfaces/msg/time.hpp"
#include "rcl/time.h"
#include "rclcpp/visibility_control.hpp"
 
namespace rclcpp
{
class RCLCPP_PUBLIC Duration
{
public:
 
  Duration(int32_t seconds, uint32_t 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)
 
 
  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;
 
  bool
  operator>(const rclcpp::Duration & rhs) const;
 
  Duration
  operator+(const rclcpp::Duration & rhs) const;
 
  Duration & operator+=(const rclcpp::Duration & rhs);
 
  Duration
  operator-(const rclcpp::Duration & rhs) const;
 
  Duration & operator-=(const rclcpp::Duration & rhs);
 
 
  static
  Duration
  max();
 
  Duration
  operator*(double scale) const;
 
  Duration &
  operator*=(double scale);
 
 
  rcl_duration_value_t
  nanoseconds() const;
 
 
  double
  seconds() const;
 
  static Duration
  from_seconds(double seconds);
 
  static Duration
  from_nanoseconds(rcl_duration_value_t nanoseconds);
 
  static Duration
  from_rmw_time(rmw_time_t duration);
 
  template<class DurationT>
  DurationT
  to_chrono() const
  {
    return std::chrono::duration_cast<DurationT>(std::chrono::nanoseconds(this->nanoseconds()));
  }
 
  rmw_time_t
  to_rmw_time() const;
 
private:
  rcl_duration_t rcl_duration_;
 
  Duration() = default;
};
 
RCLCPP_PUBLIC
builtin_interfaces::msg::Time
operator+(const builtin_interfaces::msg::Time & lhs, const rclcpp::Duration & rhs);
 
RCLCPP_PUBLIC
builtin_interfaces::msg::Time
operator-(const builtin_interfaces::msg::Time & lhs, const rclcpp::Duration & rhs);
 
}  // namespace rclcpp
 
#endif  // RCLCPP__DURATION_HPP_