fsb_timing.h

#ifndef FSB_TIMING_H
#define FSB_TIMING_H
 
#include <cstdint>
#include <ctime>
 
#include "fsb_types.h"
 
namespace fsb
{
 
constexpr long kMinimumStepSizeNs = 10000;
 
inline Real timespec_to_seconds(const timespec& ts)
{
    return static_cast<Real>(ts.tv_sec) + static_cast<Real>(ts.tv_nsec) * 1e-9;
}
 
enum class TimingError : uint8_t
{
    SUCCESS = 0,
    MONOTONIC_CLOCK_FAILED = 1,
    REALTIME_CLOCK_FAILED = 2,
    SLEEP_FAILED = 3,
    STEP_SIZE_BELOW_CLOCK_RESOLUTION = 4,
    STEP_SIZE_LESS_THAN_MINIMUM = 5
};
 
struct TimeData
{
    struct timespec monotonic = {};
    struct timespec realtime = {};
};
 
class PeriodicTimer
{
public:
    PeriodicTimer() = default;
 
    TimingError initialize(const timespec& step_size);
 
    TimingError start();
 
    TimingError step(TimeData& nominal_time, TimeData& actual_time);
 
private:
    timespec m_step_req = {};
    timespec m_init = {};
    timespec m_init_realtime = {};
    timespec m_step_size = {};
};
 
} // namespace fsb
 
#endif