xsens_time.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef _XSENS_TIME_2006_09_12
#define _XSENS_TIME_2006_09_12

#include <cstdint>

#include <time.h>

namespace xsens
{
//! The number of seconds in a normal day
#define XSENS_SEC_PER_DAY (60 * 60 * 24)
//! The number of milliseconds in a normal day
#define XSENS_MS_PER_DAY (XSENS_SEC_PER_DAY * 1000)

//! A real-time timestamp (ms)
typedef uint64_t TimeStamp;

/*! \brief A platform-independent clock.

    The function returns the time of day in ms since midnight. If the \c date
   parameter is
    non-nullptr, corresponding the date is placed in the variable it points to.
*/
uint32_t getTimeOfDay(tm* date_ = nullptr, time_t* secs_ = nullptr);

/*! \brief A platform-independent sleep routine.

    Time is measured in ms. The function will not return until the specified
    number of ms have passed.
*/
void msleep(uint32_t ms);

TimeStamp timeStampNow(void);

}  // end of xsens namespace

#endif  // _XSENS_TIME_2006_09_12