time.hpp

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// Copyright 2020 Apex.AI, Inc.
//
// 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 STATE_ESTIMATION_NODES__TIME_HPP_
#define STATE_ESTIMATION_NODES__TIME_HPP_
 
 
#include <common/types.hpp>
 
#include <chrono>
#include <utility>
 
namespace autoware
{
namespace prediction
{
 
enum class TimeReferenceFrame
{
  kGlobal,
  kMeasurement
};
 
template<TimeReferenceFrame kTimeReferenceFrame>
class Time : public std::chrono::system_clock::time_point
{
  using Base = std::chrono::system_clock::time_point;
 
public:
  Time() = default;
  explicit Time(const Base & time_point)
  : Base{time_point} {}
  common::types::bool8_t is_valid() const noexcept
  {
    return time_since_epoch() > Time::duration{0LL};
  }
 
  friend Time operator+(Time time_1, const Time & time_2)
  {
    return Time{time_1 + time_2.time_since_epoch()};
  }
 
  template<typename IntT, typename DurationT>
  friend Time operator+(const Time & time, const std::chrono::duration<IntT, DurationT> & duration)
  {
    return Time{static_cast<const Base &>(time) + duration};
  }
 
  template<typename IntT, typename DurationT>
  friend Time operator-(const Time & time, const std::chrono::duration<IntT, DurationT> & duration)
  {
    return Time{static_cast<const Base &>(time) - duration};
  }
};
 
using MeasurementBasedTime = Time<TimeReferenceFrame::kMeasurement>;
using GlobalTime = Time<TimeReferenceFrame::kGlobal>;
 
 
}  // namespace prediction
}  // namespace autoware
 
#endif  // STATE_ESTIMATION_NODES__TIME_HPP_