system_clock.h

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// Copyright 2019-2021:
//   GobySoft, LLC (2013-)
//   Community contributors (see AUTHORS file)
// File authors:
//   Toby Schneider <toby@gobysoft.org>
//
//
// This file is part of the Goby Underwater Autonomy Project Libraries
// ("The Goby Libraries").
//
// The Goby Libraries are free software: you can redistribute them and/or modify
// them under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 2.1 of the License, or
// (at your option) any later version.
//
// The Goby Libraries are distributed in the hope that they will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with Goby.  If not, see <http://www.gnu.org/licenses/>.
 
#ifndef GOBY_TIME_SYSTEM_CLOCK_H
#define GOBY_TIME_SYSTEM_CLOCK_H
 
#include <chrono>
#include <cstdint>
 
#include "goby/time/simulation.h"
 
namespace goby
{
 
 
namespace time
{
struct SystemClock
{
    typedef std::chrono::microseconds duration;
    typedef duration::rep rep;
    typedef duration::period period;
    typedef std::chrono::time_point<SystemClock> time_point;
    static const bool is_steady = false;
 
    static time_point now() noexcept
    {
        using namespace std::chrono;
        auto now = system_clock::now();
 
        if (!SimulatorSettings::using_sim_time)
            return time_point(duration_cast<duration>(now.time_since_epoch()));
        else
            return warp(now);
    }
 
    template <typename TimeType> static TimeType now();
 
    static goby::time::SystemClock::time_point
    warp(const std::chrono::system_clock::time_point& real_time);
 
    static std::chrono::system_clock::time_point
    unwarp(const goby::time::SystemClock::time_point& sim_time);
};
 
} // namespace time
 
 
} // namespace goby
 
#endif