Clock.hh

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/*
 * Copyright (C) 2018 Open Source Robotics Foundation
 *
 * 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 GZ_TRANSPORT_CLOCK_HH_
#define GZ_TRANSPORT_CLOCK_HH_
 
#include <chrono>
#include <memory>
#include <string>
 
#include <gz/utils/SuppressWarning.hh>
 
#include "gz/transport/config.hh"
#include "gz/transport/Export.hh"
 
namespace gz
{
  namespace transport
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_TRANSPORT_VERSION_NAMESPACE {
      //
      class GZ_TRANSPORT_VISIBLE Clock
      {
        public: virtual std::chrono::nanoseconds Time() const = 0;
 
        public: virtual bool IsReady() const = 0;
 
        public: virtual ~Clock() = default;
      };
 
      class GZ_TRANSPORT_VISIBLE NetworkClock : public Clock
      {
        public: enum class TimeBase : int64_t
        {
          REAL,  
          SIM,   
          SYS    
        };
 
        public: explicit NetworkClock(const std::string &_topicName,
                                      const TimeBase _timeBase = TimeBase::SIM);
 
        public: ~NetworkClock() override;
 
        // Documentation inherited
        public: std::chrono::nanoseconds Time() const override;
 
        public: void SetTime(const std::chrono::nanoseconds _time);
 
        // Documentation inherited
        public: bool IsReady() const override;
 
        private: class Implementation;
 
        GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
        private: std::unique_ptr<Implementation> dataPtr;
        GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
      };
 
      class GZ_TRANSPORT_VISIBLE WallClock : public Clock
      {
        public: static WallClock* Instance();
 
        // Documentation inherited
        public: std::chrono::nanoseconds Time() const override;
 
        // Documentation inherited
        public: bool IsReady() const override;
 
        private: WallClock();
 
        private: ~WallClock() override;
 
        private: class Implementation;
 
        GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
        private: std::unique_ptr<Implementation> dataPtr;
        GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
      };
    }
  }
}
 
#endif