TimeKeeper.h
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  *
10  * ArmarX is distributed in the hope that it will be useful, but
11  * WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  *
18  * @package ArmarXCore::application::ArmarXTimeserver
19  * @author Clemens Wallrath ( uagzs at student dot kit dot edu )
20  * @date 2015
21  * @copyright http://www.gnu.org/licenses/gpl.txt
22  * GNU General Public License
23  */
24 
25 #pragma once
26 
27 #include <IceUtil/Time.h>
28 
29 namespace armarx
30 {
31  /**
32  * @class TimeKeeper
33  * @brief The TimeKeeper class tracks the passing of time and allows to stop it, restart it, and adjust its speed (only used by ArmarXTimeServer).
34  * @ingroup VirtualTime
35  *
36  * Internally the current time is represented as a combination of start time, speed and an offset.
37  * The current time (i.e. the output of getTime()) is always `(IceUtil::Time::now() - startTime) * speed + offset`.
38  * When the timer is paused and unpaused or the speed changes, `offset` gets increased by `(IceUtil::Time::now() - starttime) * speed`
39  * and `starttime` gets reset to the current time.
40  */
41  class TimeKeeper
42  {
43  public:
44  TimeKeeper();
45  /**
46  * @brief starts the clock
47  */
48  void start();
49  /**
50  * @brief stops the clock. This does not reset the clock.
51  */
52  void stop();
53  /**
54  * @brief resets the clock
55  */
56  void reset();
57  /**
58  * @brief get the current time of this clock
59  * @return the current time. In most cases this should be interpreted as a timedelta, not a datetime.
60  */
61  IceUtil::Time getTime() const;
62  /**
63  * @brief sets the speed factor of the clock
64  * @param newSpeed new speed factor
65  *
66  * Sets how fast the clock is running.
67  * e.g. a value of 0.5 means that the clock only ticks with half the speed of the system clock.
68  */
69  void setSpeed(float newSpeed);
70  float getSpeed();
71  /**
72  * @brief adds a timedelta to the current time
73  * @param stepSize how much to add
74  */
75  void step(IceUtil::Time stepSize);
76 
77  private:
78  /**
79  * @brief offset that is added to the current time
80  */
81  IceUtil::Time offset;
82  /**
83  * @brief the time the clock was started (in local system time)
84  */
85  IceUtil::Time startTime;
86  /**
87  * @brief speed factor for the clock
88  */
89  float speed;
90  /**
91  * @brief if the clock is running
92  */
93  bool running;
94  };
95 }
96 
armarx::TimeKeeper
The TimeKeeper class tracks the passing of time and allows to stop it, restart it,...
Definition: TimeKeeper.h:41
armarx::TimeKeeper::stop
void stop()
stops the clock.
Definition: TimeKeeper.cpp:76
armarx::TimeKeeper::step
void step(IceUtil::Time stepSize)
adds a timedelta to the current time
Definition: TimeKeeper.cpp:85
armarx::TimeKeeper::setSpeed
void setSpeed(float newSpeed)
sets the speed factor of the clock
Definition: TimeKeeper.cpp:55
armarx::armem::Time
armarx::core::time::DateTime Time
Definition: forward_declarations.h:13
armarx::TimeKeeper::reset
void reset()
resets the clock
Definition: TimeKeeper.cpp:48
armarx::TimeKeeper::getTime
IceUtil::Time getTime() const
get the current time of this clock
Definition: TimeKeeper.cpp:35
armarx::TimeKeeper::getSpeed
float getSpeed()
Definition: TimeKeeper.cpp:62
armarx::TimeKeeper::TimeKeeper
TimeKeeper()
Definition: TimeKeeper.cpp:29
armarx::TimeKeeper::start
void start()
starts the clock
Definition: TimeKeeper.cpp:67
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28