clock.h

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/******************************************************************************
 * Copyright 2020 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#ifndef CYBER_TIME_CLOCK_H_
#define CYBER_TIME_CLOCK_H_

#include <mutex>

#include "cyber/proto/run_mode_conf.pb.h"

#include "cyber/base/atomic_rw_lock.h"
#include "cyber/common/macros.h"
#include "cyber/time/time.h"

namespace apollo {
namespace cyber {

using ::apollo::cyber::proto::ClockMode;

class Clock {
 public:
  static constexpr int64_t PRECISION =
      std::chrono::system_clock::duration::period::den /
      std::chrono::system_clock::duration::period::num;

  static_assert(PRECISION >= 1000000,
                "The precision of the system clock should be at least 1 "
                "microsecond.");

  static Time Now();

  static double NowInSeconds();

  static void SetNow(const Time& now);

  static void SetMode(ClockMode mode);

  static ClockMode mode();

  static void SetNowInSeconds(const double seconds) {
    Clock::SetNow(Time(seconds));
  }

 private:
  ClockMode mode_;
  Time mock_now_;
  ::apollo::cyber::base::AtomicRWLock rwlock_;

  DECLARE_SINGLETON(Clock)
};

}  // namespace cyber
}  // namespace apollo

#endif  // CYBER_TIME_CLOCK_H_