#include <time.hpp>

Collaboration diagram for fpsdk::common::time::Time:

Public Member Functions
Set time
These do not throw and instead return true/false. Note These throw std::runtime_error if the values are out of range.
bool	SetSecNSec (const uint32_t sec, const uint32_t nsec)
	Set time from seconds and nanoseconds (atomic)

bool	SetNSec (const uint64_t nsec)
	Set time from nanoseconds (atomic)

bool	SetSec (const double sec)
	Set time from seconds (atomic)

bool	SetPosix (const time_t posix)
	Set time from POSIX time (POSIX)

bool	SetRosTime (const RosTime &rostime)
	Set time from ROS time (POSIX)

bool	SetWnoTow (const WnoTow &wnotow)
	Set time from GNSS (GPS, Galileo, BeiDou) time (atomic)

bool	SetGloTime (const GloTime &glotime)
	Set time from GLONASS time (UTC + 3h)

bool	SetUtcTime (const UtcTime &utctime)
	Set time from UTC time (UTC)

bool	SetTai (const time_t tai)
	Set time from TAI time (CLOCK_TAI)

bool	SetClockRealtime ()
	Set time from system clock current (now) system time (CLOCK_REALTIME)

Get time
uint64_t	GetNSec () const
	Get time as nanoseconds (atomic)

double	GetSec (const int prec=9) const
	Get time as seconds (atomic)

time_t	GetPosix () const
	Get time as POSIX time (POSIX)

RosTime	GetRosTime () const
	Get time as ROS time (POSIX)

WnoTow	GetWnoTow (const WnoTow::Sys sys=WnoTow::Sys::GPS, const int prec=9) const
	Get time as GNSS (GPS, Galileo, BeiDou) time (atomic)

GloTime	GetGloTime (const int prec=9) const
	Get time as GLONASS time (UTC + 3h)

UtcTime	GetUtcTime (const int prec=9) const
	Get time as UTC time (UTC)

double	GetDayOfYear (const int prec=12) const
	Get day of year.

time_t	GetTai () const
	Get time as TAI time (CLOCK_TAI)

std::chrono::milliseconds	GetChronoMilli () const
	Get time as std::chrono::duration (milliseconds since epoch) (POSIX)

std::chrono::nanoseconds	GetChronoNano () const
	Get time as std::chrono::nanoseconds (nanoseconds since epoch) (POSIX)

Misc
bool	IsZero () const
	Check if time is zero (invalid)

Arithmetic methods
These do not throw and instead return true/false.
bool	AddDur (const Duration &dur)
	Add duration to time.

bool	AddSec (const double sec)
	Add seconds to time.

bool	AddNSec (const int64_t nsec)
	Add nanoseconds to time.

bool	SubDur (const Duration &dur)
	Substract duration from time.

bool	SubNSec (const int64_t nsec)
	Substract nanoseconds from time.

bool	SubSec (const double sec)
	Substract seconds from time.

bool	Diff (const Time &other, Duration &diff) const
	Calculate difference between times.

Arithmetic operators
Note These throw std::runtime_error if the values are out of range.
Time	operator+ (const Duration &rhs) const
	Sum time and duration.

Time	operator+ (const int64_t nsec) const
	Sum time and nanoseconds.

Time	operator+ (const double sec) const
	Sum time and seconds.

Time &	operator+= (const Duration &rhs)
	Add duration to time.

Time &	operator+= (const int64_t nsec)
	Add nanoseconds to time.

Time &	operator+= (const double sec)
	Add seconds to time.

Time	operator- (const Duration &rhs) const
	Subtract time and duration.

Time	operator- (const int64_t nsec) const
	Subtract time and nanoseconds.

Time	operator- (const double sec) const
	Subtract time and seconds.

Time &	operator-= (const Duration &rhs)
	Subtract duration from time.

Time &	operator-= (const int64_t nsec)
	Subtract nanoseconds from time.

Time &	operator-= (const double sec)
	Subtract seconds from time.

Duration	operator- (const Time &rhs) const
	Subtract time and time.

Logic operators
bool	operator== (const Time &rhs) const
	Equal.

bool	operator!= (const Time &rhs) const
	Not equal.

bool	operator> (const Time &rhs) const
	Greater than.

bool	operator< (const Time &rhs) const
	Smaller than.

bool	operator>= (const Time &rhs) const
	Greater or equal than.

bool	operator<= (const Time &rhs) const
	Smaller or equal than.

Stringification
See also fpsdk::common::string::Strftime().
std::string	StrWnoTow (const WnoTow::Sys sys=WnoTow::Sys::GPS, const int prec=3) const
	Stringify as GNSS time (atomic)

std::string	StrUtcTime (const int prec=3) const
	Stringify as year, month, day, hour, minute and second time (UTC)

std::string	StrIsoTime (const int prec=0) const
	Stringify as ISO 8601 time (UTC)

Public Attributes
uint32_t	sec_
	Seconds part of time (atomic seconds since 1970-01-01 00:00:00 UTC)

uint32_t	nsec_
	Nanoseconds part of time (should be in range 0-999999999)

Static Public Attributes
static const Time	MIN
	Minimum representable time.

static const Time	MAX
	Maximum representable time.

static const Time	ZERO
	Zero (invalid, uninitialised) time.

Make Time object
Note These throw std::runtime_error if the time is out of range
	Time ()
	Constructor, empty (invalid) time.

static Time	FromSecNSec (const uint32_t sec, const uint32_t nsec)
	Time from seconds and nanoseconds (atomic)

static Time	FromNSec (const uint64_t nsec)
	Time from nanoseconds (atomic)

static Time	FromSec (const double sec)
	From seconds (atomic)

static Time	FromPosix (const std::time_t posix)
	From POSIX time (POSIX)

static Time	FromRosTime (const RosTime &rostime)
	From ROS time (POSIX)

static Time	FromWnoTow (const WnoTow &wnotow)
	From GNSS time (atomic)

static Time	FromGloTime (const GloTime &glotime)
	From GLONASS time (UTC + 3h)

static Time	FromUtcTime (const UtcTime &utctime)
	From UTC time (UTC)

static Time	FromTai (const time_t tai)
	From TAI time (CLOCK_TAI)

static Time	FromClockRealtime ()
	From system clock current (now) system time (CLOCK_REALTIME)

Detailed Description

Time.

This class implements conversion from and to different time systems and time artithmetics. Internally it uses an atomic time in seconds and nanoseconds since 1970 as its representation of time. Conversion from and to UTC time or POSIX time are available. No timezones or local time are supported (use the ctime API for that).

Some of the constructors and operators can throw. Non-throwing methods to manipulate the time are provided as well.

This time object can represent the time from T_MIN to T_MAX, which is (the old) 32bit POSIX time. Note that for the different GNSS times you will get negative week numbers (GPS, Galileo, BeiDou) or a negative offset "M4" value (GLONASS) for timestamps before the beginning of respective timescales.

*                       ---1970-------------1980-------1996-1999----2006--------------------2106---//--fuuuuuture----> time
*
* 1970-01-01 00:00:00.0 UTC |<----- std::time_t ---------------------------------------------------//----->|
*                           |<----- ros::Time/rclcpp::Time----------------------------------->|
* 1980-01-06 00:00:00.0 UTC                  |<---- GPS time---------------------------------------//----->
* 1996-01-01 00:00:00.0 UTC(SU)                         |<---- GLONASS time -----------------------//----->
* 1999-08-21 23:59:47.0 UTC                                  |<---- Galileo time ------------------//----->
* 2006-01-01 00:00:00.0 UTC                                          |<---- BeiDou time -----------//----->
*
*                           |<======================= Time object ===========================>|
*                         T_MIN                                                             T_MAX
*              1970-01-01 00:00:0.0 UTC                                   2106-02-06 06:28:16.0 UTC (approximately!)
*
* Some notes:
*
* - "Strict" POSIX time is used for the methods marked with "POSIX". This time has a discontinuity and/or ambiguity
*   at/during leapsecond events. It does not use the "Mills" or NTP style of handling these periods and is therefore,
*   for those timestamps, likely not compatible with the system time (CLOCK_REALTIME) of a typical Linux system. See
*   references below.
* - The from/to UTC calculations are not fully correct for times before 1972.
* - FromClockTai() and SetClockTai() likely will not give the expected result unless your system (Linux kernel) is
*   configured for the correct leapsecond.
* - The precision of all integer getters, setters and operators should be [ns] in all cases
* - The precision of all double getters, setters and operators should be [ns] in most cases
* - The internal representation of time (the sec_ value) is atomic, but it is not CLOCK_TAI (which already "has" 10
*   leapseconds at sec_ = 0).
*
* Some references:
*
* - https://en.wikipedia.org/wiki/Unix_time
* - https://en.wikipedia.org/wiki/Atomic_clock
* - https://en.wikipedia.org/wiki/Coordinated_Universal_Time
* - https://docs.ntpsec.org/latest/leapsmear.html
* - https://www.eecis.udel.edu/~mills/leap.html
* - https://manpages.org/adjtimex/2
*
*

Definition at line 564 of file time.hpp.

Member Function Documentation

◆ FromSecNSec()

static Time fpsdk::common::time::Time::FromSecNSec	(	const uint32_t	sec,
		const uint32_t	nsec )

static

Time from seconds and nanoseconds (atomic)

Parameters

[in]	sec	Time value seconds
[in]	nsec	Time value nanoseconds

Returns: the Time object

◆ FromNSec()

static Time fpsdk::common::time::Time::FromNSec ( const uint64_t nsec )

static

Time from nanoseconds (atomic)

Parameters

[in] nsec Time value nanoseconds (> 0)

Returns: the Time object

◆ FromSec()

static Time fpsdk::common::time::Time::FromSec ( const double sec )

static

From seconds (atomic)

Parameters

[in] sec Time value seconds (> 0.0)

Returns: the Time object

◆ FromPosix()

static Time fpsdk::common::time::Time::FromPosix ( const std::time_t posix )

static

From POSIX time (POSIX)

Note: See comments in the class description regarding POSIX time!

Parameters

[in] posix Time value seconds (> 0)

Returns: the Time object

◆ FromRosTime()

static Time fpsdk::common::time::Time::FromRosTime ( const RosTime & rostime )

static

From ROS time (POSIX)

Note: See comments in the class description regarding POSIX time!

Parameters

[in] rostime Time value

Returns: the Time object

◆ FromWnoTow()

static Time fpsdk::common::time::Time::FromWnoTow ( const WnoTow & wnotow )

static

From GNSS time (atomic)

Parameters

[in] wnotow GNSS time

Returns: the Time object

◆ FromGloTime()

static Time fpsdk::common::time::Time::FromGloTime ( const GloTime & glotime )

static

From GLONASS time (UTC + 3h)

Parameters

[in] glotime GLONASS time

Returns: the Time object

◆ FromUtcTime()

static Time fpsdk::common::time::Time::FromUtcTime ( const UtcTime & utctime )

static

From UTC time (UTC)

Parameters

[in] utctime UTC time

Returns: the Time object

◆ FromTai()

static Time fpsdk::common::time::Time::FromTai ( const time_t tai )

static

From TAI time (CLOCK_TAI)

Returns: true if successful, false otherwise (bad time)

◆ FromClockRealtime()

static Time fpsdk::common::time::Time::FromClockRealtime ( )

static

From system clock current (now) system time (CLOCK_REALTIME)

Returns: the Time object

◆ SetSecNSec()

bool fpsdk::common::time::Time::SetSecNSec	(	const uint32_t	sec,
		const uint32_t	nsec )

Set time from seconds and nanoseconds (atomic)

Parameters

[in]	sec	Time value seconds
[in]	nsec	Time value nanoseconds

Returns: true if successful, false otherwise (bad time)

◆ SetNSec()

bool fpsdk::common::time::Time::SetNSec ( const uint64_t nsec )

Set time from nanoseconds (atomic)

Parameters

[in] nsec Time value nanoseconds (> 0)

Returns: true if successful, false otherwise (bad time)

◆ SetSec()

bool fpsdk::common::time::Time::SetSec ( const double sec )

Set time from seconds (atomic)

Parameters

[in] sec Time value seconds (> 0.0)

Returns: true if successful, false otherwise (bad time)

◆ SetPosix()

bool fpsdk::common::time::Time::SetPosix ( const time_t posix )

Set time from POSIX time (POSIX)

Note: See comments in the class description regarding POSIX time!

Parameters

[in] posix The POSIX time

Returns: true if successful, false otherwise (bad time)

◆ SetRosTime()

bool fpsdk::common::time::Time::SetRosTime ( const RosTime & rostime )

Set time from ROS time (POSIX)

Note: See comments in the class description regarding POSIX time!

Parameters

[in] rostime Time value

Returns: true if successful, false otherwise (bad time)

◆ SetWnoTow()

bool fpsdk::common::time::Time::SetWnoTow ( const WnoTow & wnotow )

Set time from GNSS (GPS, Galileo, BeiDou) time (atomic)

Parameters

[in] wnotow GNSS time

Returns: true if successful, false otherwise (bad time)

◆ SetGloTime()

bool fpsdk::common::time::Time::SetGloTime ( const GloTime & glotime )

Set time from GLONASS time (UTC + 3h)

Parameters

[in] glotime GLONASS time

Returns: true if successful, false otherwise (bad time)

◆ SetUtcTime()

bool fpsdk::common::time::Time::SetUtcTime ( const UtcTime & utctime )

Set time from UTC time (UTC)

Parameters

[in] utctime UTC time

Returns: true if successful, false otherwise (bad time)

◆ SetTai()

bool fpsdk::common::time::Time::SetTai ( const time_t tai )

Set time from TAI time (CLOCK_TAI)

Parameters

[in] tai The TAI time

Returns: true if successful, false otherwise (bad time)

◆ SetClockRealtime()

bool fpsdk::common::time::Time::SetClockRealtime ( )

Set time from system clock current (now) system time (CLOCK_REALTIME)

Returns: true if successful, false otherwise (bad time)

◆ GetNSec()

uint64_t fpsdk::common::time::Time::GetNSec ( ) const

Get time as nanoseconds (atomic)

Returns: the time as nanoseconds

◆ GetSec()

double fpsdk::common::time::Time::GetSec ( const int prec = 9 ) const

Get time as seconds (atomic)

Parameters

[in] prec Round the seconds to this many fractional digits (0-9)

Returns: the time as seconds

◆ GetPosix()

time_t fpsdk::common::time::Time::GetPosix ( ) const

Get time as POSIX time (POSIX)

Note: See comments in the class description regarding POSIX time!

Returns: the POSIX time, truncated (rounded down, sub-seconds ignored)

◆ GetRosTime()

RosTime fpsdk::common::time::Time::GetRosTime ( ) const

Get time as ROS time (POSIX)

Note: See comments in the class description regarding POSIX time!

Returns: the time

◆ GetWnoTow()

WnoTow fpsdk::common::time::Time::GetWnoTow	(	const WnoTow::Sys	sys = WnoTow::Sys::GPS,
		const int	prec = 9 ) const

Get time as GNSS (GPS, Galileo, BeiDou) time (atomic)

Note: For times before the respective GNSS epoch the result is not usable (e.g. negative week numbers).

Parameters

[in]	sys	GNSS
[in]	prec	Round the seconds to this many fractional digits (0-9)

Returns: the GNSS time for the selected GNSS

◆ GetGloTime()

GloTime fpsdk::common::time::Time::GetGloTime ( const int prec = 9 ) const

Get time as GLONASS time (UTC + 3h)

Parameters

[in] prec Round the seconds to this many fractional digits (0-9)

Returns: the GLONASS time

◆ GetUtcTime()

UtcTime fpsdk::common::time::Time::GetUtcTime ( const int prec = 9 ) const

Get time as UTC time (UTC)

Parameters

[in] prec Round the seconds to this many fractional digits (0-9)

Returns: the UTC time

◆ GetDayOfYear()

double fpsdk::common::time::Time::GetDayOfYear ( const int prec = 12 ) const

Get day of year.

Parameters

[in] prec Round to this many fractional digits (0-12)

Returns: the day of the year

◆ GetTai()

time_t fpsdk::common::time::Time::GetTai ( ) const

Get time as TAI time (CLOCK_TAI)

Returns: the TAI time, truncated (rounded down, sub-seconds ignored)

◆ GetChronoMilli()

std::chrono::milliseconds fpsdk::common::time::Time::GetChronoMilli ( ) const

Get time as std::chrono::duration (milliseconds since epoch) (POSIX)

Note: See comments in the class description regarding POSIX time!

Returns: the time as std::chrono::milliseconds

◆ GetChronoNano()

std::chrono::nanoseconds fpsdk::common::time::Time::GetChronoNano ( ) const

Get time as std::chrono::nanoseconds (nanoseconds since epoch) (POSIX)

Note: See comments in the class description regarding POSIX time!

Returns: the time as std::chrono::nanoseconds

◆ IsZero()

bool fpsdk::common::time::Time::IsZero ( ) const

Check if time is zero (invalid)

Returns: true if time is exactly zero

◆ AddDur()

bool fpsdk::common::time::Time::AddDur ( const Duration & dur )

Add duration to time.

Parameters

[in] dur Duration to add

Returns: true if successful (dur value in range), false otherwise (bad sec value)

◆ AddSec()

bool fpsdk::common::time::Time::AddSec ( const double sec )

Add seconds to time.

Parameters

[in] sec Seconds to add

Returns: true if successful (sec value in range), false otherwise (bad sec value)

◆ AddNSec()

bool fpsdk::common::time::Time::AddNSec ( const int64_t nsec )

Add nanoseconds to time.

Parameters

[in] nsec Nanoseconds to add

Returns: true if successful (sec value in range), false otherwise (bad sec value)

◆ SubDur()

bool fpsdk::common::time::Time::SubDur ( const Duration & dur )

Substract duration from time.

Parameters

[in] dur Duration to substract

Returns: true if successful (dur value in range), false otherwise (bad sec value)

◆ SubNSec()

bool fpsdk::common::time::Time::SubNSec ( const int64_t nsec )

Substract nanoseconds from time.

Parameters

[in] nsec Nanoseconds to substract

Returns: true if successful (sec value in range), false otherwise (bad sec value)

◆ SubSec()

bool fpsdk::common::time::Time::SubSec ( const double sec )

Substract seconds from time.

Parameters

[in] sec Seconds to substract

Returns: true if successful (sec value in range), false otherwise (bad sec value)

◆ Diff()

bool fpsdk::common::time::Time::Diff	(	const Time &	other,
		Duration &	diff ) const

Calculate difference between times.

Parameters

[in]	other	The other time
[out]	diff	The difference to the other time (time - other)

Returns: true if the times and the difference are within range, false otherwise

◆ StrWnoTow()

std::string fpsdk::common::time::Time::StrWnoTow	(	const WnoTow::Sys	sys = WnoTow::Sys::GPS,
		const int	prec = 3 ) const

Stringify as GNSS time (atomic)

Parameters

[in]	sys	The desired GNSS time system
[in]	prec	Number of fractional digits for the seconds (0-9)

Returns: a string with formatted week-number and time-of-week ("wwww:tttttt.ttt")

◆ StrUtcTime()

std::string fpsdk::common::time::Time::StrUtcTime ( const int prec = 3 ) const

Stringify as year, month, day, hour, minute and second time (UTC)

Parameters

[in] prec Number of fractional digits for the seconds (0-9)

Returns: a string with formatted UTC time ("yyyy-mm-dd hh:mm:ss.sss")

◆ StrIsoTime()

std::string fpsdk::common::time::Time::StrIsoTime ( const int prec = 0 ) const

Stringify as ISO 8601 time (UTC)

Parameters

[in] prec Number of fractional digits for the seconds (0-9)

Returns: a string with formatted UTC time ("yyyyddmmThhmmssZ")

Member Data Documentation

◆ MIN

const Time fpsdk::common::time::Time::MIN

static

Minimum representable time.

Definition at line 1070 of file time.hpp.

◆ MAX

const Time fpsdk::common::time::Time::MAX

static

Maximum representable time.

Definition at line 1071 of file time.hpp.

◆ ZERO

const Time fpsdk::common::time::Time::ZERO

static

Zero (invalid, uninitialised) time.

Definition at line 1072 of file time.hpp.

◆ sec_

uint32_t fpsdk::common::time::Time::sec_

Seconds part of time (atomic seconds since 1970-01-01 00:00:00 UTC)

Definition at line 1075 of file time.hpp.

◆ nsec_

uint32_t fpsdk::common::time::Time::nsec_

Nanoseconds part of time (should be in range 0-999999999)

Definition at line 1076 of file time.hpp.

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

fpsdk_common/include/fpsdk_common/time.hpp

Public Member Functions

Public Attributes

Static Public Attributes

Make Time object

Detailed Description

Member Function Documentation

◆ FromSecNSec()

◆ FromNSec()

◆ FromSec()

◆ FromPosix()

◆ FromRosTime()

◆ FromWnoTow()

◆ FromGloTime()

◆ FromUtcTime()

◆ FromTai()

◆ FromClockRealtime()

◆ SetSecNSec()

◆ SetNSec()

◆ SetSec()

◆ SetPosix()

◆ SetRosTime()

◆ SetWnoTow()

◆ SetGloTime()

◆ SetUtcTime()

◆ SetTai()

◆ SetClockRealtime()

◆ GetNSec()

◆ GetSec()

◆ GetPosix()

◆ GetRosTime()

◆ GetWnoTow()

◆ GetGloTime()

◆ GetUtcTime()

◆ GetDayOfYear()

◆ GetTai()

◆ GetChronoMilli()

◆ GetChronoNano()

◆ IsZero()

◆ AddDur()

◆ AddSec()

◆ AddNSec()

◆ SubDur()

◆ SubNSec()

◆ SubSec()

◆ Diff()

◆ StrWnoTow()

◆ StrUtcTime()

◆ StrIsoTime()

Member Data Documentation

◆ MIN

◆ MAX

◆ ZERO

◆ sec_

◆ nsec_