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 IGNITION_TRANSPORT_CLOCK_HH_
#define IGNITION_TRANSPORT_CLOCK_HH_

#include <chrono>
#include <memory>
#include <string>

#include <ignition/utilities/SuppressWarning.hh>

#include "ignition/transport/config.hh"
#include "ignition/transport/Export.hh"

namespace ignition
{
  namespace transport
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_TRANSPORT_VERSION_NAMESPACE {
      //
      class IGNITION_TRANSPORT_VISIBLE Clock
      {
        public: virtual std::chrono::nanoseconds Time() const = 0;

        public: virtual bool IsReady() const = 0;

        public: virtual ~Clock() = default;
      };

      class IGNITION_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;

        IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
        private: std::unique_ptr<Implementation> dataPtr;
        IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
      };

      class IGNITION_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;

        IGN_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
        private: std::unique_ptr<Implementation> dataPtr;
        IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
      };
    }
  }
}

#endif