/usr/include/ros/time.h is in libroscpp-core-dev 0.5.6-2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* 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,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* 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) { sec = (uint32_t)floor(t); nsec = (uint32_t)boost::math::round((t-sec) * 1e9); 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.
*/
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.
*/
static bool sleepUntil(const WallTime& 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);
}
#endif // ROS_TIME_H
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