Time utility class - abstraction over clock sources. More...

#include <commrat/platform/timestamp.hpp>

Public Types
enum class	ClockSource { SYSTEM_CLOCK , STEADY_CLOCK , HIGH_RES_CLOCK , REALTIME_CLOCK , MONOTONIC_CLOCK }
	Clock source types. More...

Static Public Member Functions
static Timestamp	now () noexcept
	Get current timestamp in nanoseconds.

static Timestamp	get_timestamp (ClockSource source=ClockSource::STEADY_CLOCK) noexcept
	Get current timestamp from specific clock source.

static void	set_clock_source (ClockSource source) noexcept
	Set default clock source for all future now() calls.

template<typename Rep , typename Period >
static constexpr Timestamp	to_nanoseconds (std::chrono::duration< Rep, Period > duration) noexcept
	Convert std::chrono::duration to nanoseconds.

template<typename Duration >
static constexpr Duration	from_nanoseconds (Timestamp ns) noexcept
	Convert nanoseconds to std::chrono::duration.

static constexpr Timestamp	milliseconds_to_ns (uint64_t ms) noexcept
	Convert milliseconds to nanoseconds.

static constexpr Timestamp	microseconds_to_ns (uint64_t us) noexcept
	Convert microseconds to nanoseconds.

static constexpr uint64_t	ns_to_milliseconds (Timestamp ns) noexcept
	Convert nanoseconds to milliseconds.

static constexpr uint64_t	ns_to_microseconds (Timestamp ns) noexcept
	Convert nanoseconds to microseconds.

static constexpr Timestamp	diff (Timestamp t1, Timestamp t2) noexcept
	Calculate absolute time difference between two timestamps.

static constexpr bool	is_within_tolerance (Timestamp timestamp, Timestamp target, Timestamp tolerance_ns) noexcept
	Check if timestamp is within tolerance of target.

static void	sleep_ns (Timestamp ns) noexcept
	Sleep for specified nanoseconds.

template<typename Rep , typename Period >
static void	sleep (std::chrono::duration< Rep, Period > duration) noexcept
	Sleep for specified duration.

Detailed Description

Time utility class - abstraction over clock sources.

Provides unified interface for getting timestamps and converting units. Can be configured to use different clock sources (system, monotonic, realtime).

Thread-safe: All methods are const and stateless.

Definition at line 52 of file timestamp.hpp.

Member Enumeration Documentation

◆ ClockSource

enum class commrat::Time::ClockSource

strong

Clock source types.

Enumerator
SYSTEM_CLOCK	std::chrono::system_clock (wall time)
STEADY_CLOCK	std::chrono::steady_clock (monotonic)
HIGH_RES_CLOCK	std::chrono::high_resolution_clock
REALTIME_CLOCK	CLOCK_REALTIME (future: PTP, NTP sync)
MONOTONIC_CLOCK	CLOCK_MONOTONIC (future: realtime monotonic)

Definition at line 57 of file timestamp.hpp.

Member Function Documentation

◆ diff()

static constexpr Timestamp commrat::Time::diff	(	Timestamp	t1,
		Timestamp	t2
	)

inlinestaticconstexprnoexcept

Calculate absolute time difference between two timestamps.

Parameters

t1	First timestamp
t2	Second timestamp

Returns: Absolute difference in nanoseconds

Definition at line 166 of file timestamp.hpp.

Referenced by is_within_tolerance().

◆ from_nanoseconds()

template<typename Duration >

static constexpr Duration commrat::Time::from_nanoseconds ( Timestamp ns )

inlinestaticconstexprnoexcept

Convert nanoseconds to std::chrono::duration.

Definition at line 127 of file timestamp.hpp.

◆ get_timestamp()

static Timestamp commrat::Time::get_timestamp ( ClockSource source = ClockSource::STEADY_CLOCK )

inlinestaticnoexcept

Get current timestamp from specific clock source.

Parameters

source Clock source to use

Returns: Timestamp in nanoseconds

Definition at line 82 of file timestamp.hpp.

References HIGH_RES_CLOCK, MONOTONIC_CLOCK, REALTIME_CLOCK, STEADY_CLOCK, and SYSTEM_CLOCK.

Referenced by now().

◆ is_within_tolerance()

static constexpr bool commrat::Time::is_within_tolerance	(	Timestamp	timestamp,
		Timestamp	target,
		Timestamp	tolerance_ns
	)

inlinestaticconstexprnoexcept

Check if timestamp is within tolerance of target.

Parameters

timestamp	Timestamp to check
target	Target timestamp
tolerance_ns	Tolerance in nanoseconds

Returns: true if |timestamp - target| <= tolerance

Definition at line 178 of file timestamp.hpp.

References diff().

◆ microseconds_to_ns()

static constexpr Timestamp commrat::Time::microseconds_to_ns ( uint64_t us )

inlinestaticconstexprnoexcept

Convert microseconds to nanoseconds.

Definition at line 141 of file timestamp.hpp.

Referenced by commrat::literals::operator""_us().

◆ milliseconds_to_ns()

static constexpr Timestamp commrat::Time::milliseconds_to_ns ( uint64_t ms )

inlinestaticconstexprnoexcept

Convert milliseconds to nanoseconds.

Definition at line 134 of file timestamp.hpp.

Referenced by commrat::literals::operator""_ms(), and commrat::literals::operator""_s().

◆ now()

static Timestamp commrat::Time::now ( )

inlinestaticnoexcept

Get current timestamp in nanoseconds.

Returns: Current time as uint64_t nanoseconds

Real-time safe: Yes (if using MONOTONIC_CLOCK)

Definition at line 72 of file timestamp.hpp.

References get_timestamp().

Referenced by commrat::LoopExecutor< ModuleType >::free_loop(), and commrat::LoopExecutor< ModuleType >::periodic_loop().

◆ ns_to_microseconds()

static constexpr uint64_t commrat::Time::ns_to_microseconds ( Timestamp ns )

inlinestaticconstexprnoexcept

Convert nanoseconds to microseconds.

Definition at line 155 of file timestamp.hpp.

◆ ns_to_milliseconds()

static constexpr uint64_t commrat::Time::ns_to_milliseconds ( Timestamp ns )

inlinestaticconstexprnoexcept

Convert nanoseconds to milliseconds.

Definition at line 148 of file timestamp.hpp.

◆ set_clock_source()

static void commrat::Time::set_clock_source ( ClockSource source )

inlinestaticnoexcept

Set default clock source for all future now() calls.

Parameters

source Clock source to use

Not thread-safe: Should be called once at initialization

Definition at line 109 of file timestamp.hpp.

◆ sleep()

template<typename Rep , typename Period >

static void commrat::Time::sleep ( std::chrono::duration< Rep, Period > duration )

inlinestaticnoexcept

Sleep for specified duration.

Definition at line 201 of file timestamp.hpp.

Referenced by commrat::module_main().

◆ sleep_ns()

static void commrat::Time::sleep_ns ( Timestamp ns )

inlinestaticnoexcept

Sleep for specified nanoseconds.

Uses high-resolution sleep if available.

Parameters

ns	Nanoseconds to sleep

Real-time safe: Depends on OS scheduler

Definition at line 193 of file timestamp.hpp.

◆ to_nanoseconds()

template<typename Rep , typename Period >

static constexpr Timestamp commrat::Time::to_nanoseconds ( std::chrono::duration< Rep, Period > duration )

inlinestaticconstexprnoexcept

Convert std::chrono::duration to nanoseconds.

Definition at line 117 of file timestamp.hpp.

The documentation for this class was generated from the following file:

commrat/platform/timestamp.hpp

Public Types

Static Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ ClockSource

Member Function Documentation

◆ diff()

◆ from_nanoseconds()

◆ get_timestamp()

◆ is_within_tolerance()

◆ microseconds_to_ns()

◆ milliseconds_to_ns()

◆ now()

◆ ns_to_microseconds()

◆ ns_to_milliseconds()

◆ set_clock_source()

◆ sleep()

◆ sleep_ns()

◆ to_nanoseconds()