SimTime.h

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#ifndef MADARA_UTILITY_SIMTIME_H_
#define MADARA_UTILITY_SIMTIME_H_
 
#ifdef __cplusplus
#include <mutex>
#include <madara/MadaraExport.h>
 
#define MADARA_EXTERN_C extern "C" MADARA_EXPORT
 
namespace madara
{
namespace utility
{
#else
#define MADARA_EXTERN_C
#endif
 
#ifdef MADARA_FEATURE_SIMTIME
 
typedef void (*sim_time_callback_fn)(uint64_t*, double*);
 
MADARA_EXTERN_C sim_time_callback_fn set_sim_time_callback(
    sim_time_callback_fn fn);
 
MADARA_EXTERN_C void sim_time_notify(uint64_t time, double rate);
 
MADARA_EXTERN_C const double minrate;
 
#ifdef __cplusplus
constexpr bool simtime = true;
 
class MADARA_EXPORT SimTime
{
private:
  static std::mutex mutex_;
  static sim_time_callback_fn callback_;
 
  static uint64_t last_realtime_;
  static uint64_t last_simtime_;
  static double last_rate_;
 
public:
  SimTime() = delete;
 
  static uint64_t last_realtime()
  {
    std::lock_guard<std::mutex> guard(mutex_);
    return last_realtime_;
  }
 
  static uint64_t last_simtime()
  {
    std::lock_guard<std::mutex> guard(mutex_);
    return last_simtime_;
  }
 
  static double last_rate()
  {
    std::lock_guard<std::mutex> guard(mutex_);
    return last_rate_;
  }
 
  static uint64_t realtime();
 
  static uint64_t realtime(uint64_t simtime);
 
  static uint64_t time();
 
  static double rate();
 
  static uint64_t duration(uint64_t sim_duration);
 
  static uint64_t future(uint64_t sim_offset);
 
  friend sim_time_callback_fn utility::set_sim_time_callback(sim_time_callback_fn fn);
 
  friend void utility::sim_time_notify(uint64_t, double);
};
 
#endif  // ifdef __cplusplus
#else
#ifdef __cplusplus
constexpr bool simtime = false;
#endif
#endif
 
#ifdef __cplusplus
}
}  // namespace madara::utility
#endif
 
#endif