NonRtTiming.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2017, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarX
 * @author     Mirko Waechter( mirko.waechter at kit dot edu)
 * @date       2018
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once
 
#include <time.h>
 
#include <IceUtil/Time.h>
 
#include "RtTiming.h"
 
namespace armarx
{
    inline IceUtil::Time
    nonRtNow()
    {
        using namespace rt_timing::constants;
 
        struct timespec ts;
        clock_gettime(CLOCK_REALTIME, &ts);
        return IceUtil::Time::microSeconds(ts.tv_sec * seconds2MicroSeconds +
                                           ts.tv_nsec / nanoSeconds2MicroSeconds);
    }
 
    inline IceUtil::Time
    mapRtTimestampToNonRtTimestamp(const IceUtil::Time& time_monotic_raw)
    {
        // This is the "real time" clock, i.e. NTP-synchronized and relative to epoch.
        IceUtil::Time now_real_time = armarx::nonRtNow();
        // This is not relative to epoch and not NTP-synchronized.
        IceUtil::Time now_monotonic_raw = armarx::rtNow();
 
        /*
             * Assumption for small very small time deltas (i.e. "time" is close to "now"):
             *
             * time_real_time - now_real_time == time_monotic_raw - now_monotonic_raw
             * =>
             * time_real_time = time_monotic_raw - now_monotonic_raw + now_real_time
             */
        //
        IceUtil::Time time_real_time = time_monotic_raw - now_monotonic_raw + now_real_time;
        ARMARX_DEBUG << VAROUT(time_monotic_raw) << " vs. " << VAROUT(time_real_time);
        return time_real_time;
    }
 
} // namespace armarx