robot_clock.hpp

// Copyright (C) 2024 Avular Holding B.V. - All Rights Reserved
// You may use this code under the terms of the Avular
// Software End-User License Agreement.
//
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//
/*****************************************************************************
 * Created on: 2024 October 30
 * Author: Robbert-Jan de Jager
 *
 * Definition of the Robot Clock. The robot clock is a standard c++ clock
 * object used to represent robot time. In normal operation it will behave
 * identical to std::chrono::system_clock, but in simulation it will contain
 * simulation time.
 ****************************************************************************/
#pragma once
 
#include <chrono>
#include <creos/utils_global.hpp>
#include <cstdint>
#include <nlohmann/json.hpp>
 
namespace creos {
 
class CREOS_UTILS_API RobotClock {
public:
    using duration = typename std::chrono::nanoseconds;
    using rep = typename duration::rep;
    using period = typename duration::period;
    using time_point = typename std::chrono::time_point<RobotClock, duration>;
 
    static_assert(duration::min() < duration::zero(), "a clock's minimum duration cannot be less than its epoch");
 
    static constexpr bool is_steady = false;
 
    static time_point from_time_t(std::time_t t) noexcept;
 
    static time_point now() noexcept;
};
class CREOS_UTILS_API RobotClock {…};
 
inline void to_json(nlohmann::json& j, const RobotClock::time_point& p) {
    j = nlohmann::json(p.time_since_epoch().count());
}
 
inline void from_json(const nlohmann::json& j, RobotClock::time_point& p) {
    p = RobotClock::time_point(RobotClock::duration(j.get<RobotClock::rep>()));
}
 
static_assert(std::chrono::is_clock_v<RobotClock>);
 
}  // namespace creos