TimeUtil.hpp

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/*
 * Copyright (C) Cross The Road Electronics.  All rights reserved.
 * License information can be found in CTRE_LICENSE.txt
 * For support and suggestions contact support@ctr-electronics.com or file
 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
 */
#pragma once
 
#ifdef __FRC_ROBORIO__
#include <unistd.h>
#else
#include <thread>
#endif
 
#include <chrono>
 
namespace ctre {
namespace phoenix {
namespace platform {
 
    /**
     * \param timeUs    How long to yield current thread in microseconds (us).
     *                  If platform cannot honor us resolution, round up to nearest
     *                  value that platform can honor.
     */
    static inline void SleepUs(int timeUs)
    {
#ifdef __FRC_ROBORIO__
        usleep(timeUs);
#else
        std::this_thread::sleep_for(std::chrono::microseconds{timeUs});
#endif
    }
 
    /** The raw current time source. */
    std::chrono::steady_clock::duration CurrentTimeRaw();
 
    /**
     * Returns the current time of the system, converted to the given duration.
     * The default duration is in microseconds.
     *
     * This time source is typically continuous and monotonic. However, it may
     * be overridden in simulation to use a non-monotonic, non-continuous source.
     */
    template <typename DURATION = std::chrono::microseconds>
    static inline auto CurrentTime()
    {
        using namespace std::chrono;
        return duration_cast<DURATION>(CurrentTimeRaw()).count();
    }
 
    /**
     * Returns the monotonic time of the system, converted to the given duration.
     * The default duration is in microseconds.
     *
     * This time source is guaranteed to be continuous and monotonic.
     */
    template <typename DURATION = std::chrono::microseconds>
    static inline auto SystemTime()
    {
        using namespace std::chrono;
        return duration_cast<DURATION>(steady_clock::now().time_since_epoch()).count();
    }
 
} // namespace platform
} // namespace phoenix
} // namespace ctre