/usr/include/ros/time.h is in libroscpp-core-dev 0.6.7-1build1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 | /*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#ifndef ROS_TIME_H_INCLUDED
#define ROS_TIME_H_INCLUDED
/*********************************************************************
** Pragmas
*********************************************************************/
#ifdef _MSC_VER
// Rostime has some magic interface that doesn't directly include
// its implementation, this just disables those warnings.
#pragma warning(disable: 4244)
#pragma warning(disable: 4661)
#endif
/*********************************************************************
** Headers
*********************************************************************/
#include <ros/platform.h>
#include <iostream>
#include <cmath>
#include <ros/exception.h>
#include "duration.h"
#include <boost/math/special_functions/round.hpp>
#include "rostime_decl.h"
/*********************************************************************
** Cross Platform Headers
*********************************************************************/
#ifdef WIN32
#include <sys/timeb.h>
#else
#include <sys/time.h>
#endif
namespace boost {
namespace posix_time {
class ptime;
class time_duration;
}
}
namespace ros
{
/*********************************************************************
** Exceptions
*********************************************************************/
/**
* @brief Thrown if the ros subsystem hasn't been initialised before use.
*/
class ROSTIME_DECL TimeNotInitializedException : public Exception
{
public:
TimeNotInitializedException()
: Exception("Cannot use ros::Time::now() before the first NodeHandle has been created or ros::start() has been called. "
"If this is a standalone app or test that just uses ros::Time and does not communicate over ROS, you may also call ros::Time::init()")
{}
};
/**
* @brief Thrown if windoze high perf. timestamping is unavailable.
*
* @sa getWallTime
*/
class ROSTIME_DECL NoHighPerformanceTimersException : public Exception
{
public:
NoHighPerformanceTimersException()
: Exception("This windows platform does not "
"support the high-performance timing api.")
{}
};
/*********************************************************************
** Functions
*********************************************************************/
ROSTIME_DECL void normalizeSecNSec(uint64_t& sec, uint64_t& nsec);
ROSTIME_DECL void normalizeSecNSec(uint32_t& sec, uint32_t& nsec);
ROSTIME_DECL void normalizeSecNSecUnsigned(int64_t& sec, int64_t& nsec);
/*********************************************************************
** Time Classes
*********************************************************************/
/**
* \brief Base class for Time implementations. Provides storage, common functions and operator overloads.
* This should not need to be used directly.
*/
template<class T, class D>
class TimeBase
{
public:
uint32_t sec, nsec;
TimeBase() : sec(0), nsec(0) { }
TimeBase(uint32_t _sec, uint32_t _nsec) : sec(_sec), nsec(_nsec)
{
normalizeSecNSec(sec, nsec);
}
explicit TimeBase(double t) { fromSec(t); }
~TimeBase() {}
D operator-(const T &rhs) const;
T operator+(const D &rhs) const;
T operator-(const D &rhs) const;
T& operator+=(const D &rhs);
T& operator-=(const D &rhs);
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; };
T& fromSec(double t) {
int64_t sec64 = (int64_t)floor(t);
if (sec64 < 0 || sec64 > UINT_MAX)
throw std::runtime_error("Time is out of dual 32-bit range");
sec = (uint32_t)sec64;
nsec = (uint32_t)boost::math::round((t-sec) * 1e9);
// avoid rounding errors
sec += (nsec / 1000000000ul);
nsec %= 1000000000ul;
return *static_cast<T*>(this);
}
uint64_t toNSec() const {return (uint64_t)sec*1000000000ull + (uint64_t)nsec; }
T& fromNSec(uint64_t t);
inline bool isZero() const { return sec == 0 && nsec == 0; }
inline bool is_zero() const { return isZero(); }
boost::posix_time::ptime toBoost() const;
};
/**
* \brief Time representation. May either represent wall clock time or ROS clock time.
*
* ros::TimeBase provides most of its functionality.
*/
class ROSTIME_DECL Time : public TimeBase<Time, Duration>
{
public:
Time()
: TimeBase<Time, Duration>()
{}
Time(uint32_t _sec, uint32_t _nsec)
: TimeBase<Time, Duration>(_sec, _nsec)
{}
explicit Time(double t) { fromSec(t); }
/**
* \brief Retrieve the current time. If ROS clock time is in use, this returns the time according to the
* ROS clock. Otherwise returns the current wall clock time.
*/
static Time now();
/**
* \brief Sleep until a specific time has been reached.
* @return True if the desired sleep time was met, false otherwise.
*/
static bool sleepUntil(const Time& end);
static void init();
static void shutdown();
static void setNow(const Time& new_now);
static bool useSystemTime();
static bool isSimTime();
static bool isSystemTime();
/**
* \brief Returns whether or not the current time is valid. Time is valid if it is non-zero.
*/
static bool isValid();
/**
* \brief Wait for time to become valid
*/
static bool waitForValid();
/**
* \brief Wait for time to become valid, with timeout
*/
static bool waitForValid(const ros::WallDuration& timeout);
static Time fromBoost(const boost::posix_time::ptime& t);
static Time fromBoost(const boost::posix_time::time_duration& d);
};
extern ROSTIME_DECL const Time TIME_MAX;
extern ROSTIME_DECL const Time TIME_MIN;
/**
* \brief Time representation. Always wall-clock time.
*
* ros::TimeBase provides most of its functionality.
*/
class ROSTIME_DECL WallTime : public TimeBase<WallTime, WallDuration>
{
public:
WallTime()
: TimeBase<WallTime, WallDuration>()
{}
WallTime(uint32_t _sec, uint32_t _nsec)
: TimeBase<WallTime, WallDuration>(_sec, _nsec)
{}
explicit WallTime(double t) { fromSec(t); }
/**
* \brief Returns the current wall clock time.
*/
static WallTime now();
/**
* \brief Sleep until a specific time has been reached.
* @return True if the desired sleep time was met, false otherwise.
*/
static bool sleepUntil(const WallTime& end);
static bool isSystemTime() { return true; }
};
/**
* \brief Time representation. Always steady-clock time.
*
* Not affected by ROS time.
*
* ros::TimeBase provides most of its functionality.
*/
class ROSTIME_DECL SteadyTime : public TimeBase<SteadyTime, WallDuration>
{
public:
SteadyTime()
: TimeBase<SteadyTime, WallDuration>()
{}
SteadyTime(uint32_t _sec, uint32_t _nsec)
: TimeBase<SteadyTime, WallDuration>(_sec, _nsec)
{}
explicit SteadyTime(double t) { fromSec(t); }
/**
* \brief Returns the current steady (monotonic) clock time.
*/
static SteadyTime now();
/**
* \brief Sleep until a specific time has been reached.
* @return True if the desired sleep time was met, false otherwise.
*/
static bool sleepUntil(const SteadyTime& end);
static bool isSystemTime() { return true; }
};
ROSTIME_DECL std::ostream &operator <<(std::ostream &os, const Time &rhs);
ROSTIME_DECL std::ostream &operator <<(std::ostream &os, const WallTime &rhs);
ROSTIME_DECL std::ostream &operator <<(std::ostream &os, const SteadyTime &rhs);
}
#endif // ROS_TIME_H
|