duration.hpp

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// 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 "rcl/time.h"
#include "rclcpp/visibility_control.hpp"

namespace rclcpp
{
class RCLCPP_PUBLIC Duration
{
public:
  Duration(int32_t seconds, uint32_t nanoseconds);

  explicit Duration(rcl_duration_value_t nanoseconds);

  explicit Duration(std::chrono::nanoseconds 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;

  Duration
  operator+(const rclcpp::Duration & rhs) const;

  Duration
  operator-(const rclcpp::Duration & rhs) const;

  static
  Duration
  max();

  Duration
  operator*(double scale) const;

  rcl_duration_value_t
  nanoseconds() const;

  double
  seconds() const;

  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_;
};

}  // namespace rclcpp

#endif  // RCLCPP__DURATION_HPP_