Timestamp.h

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// -*- C++ -*-
#ifndef RTM_TIMESTAMP_H
#define RTM_TIMESTAMP_H
 
#include <rtm/ConnectorListener.h>
#include <chrono>
 
template <class DataType>
void setTimestamp(DataType& data)
{
  auto now = std::chrono::system_clock::now().time_since_epoch();
  auto sec = std::chrono::duration_cast<std::chrono::seconds>(now);
  auto nsec = std::chrono::duration_cast<std::chrono::nanoseconds>(now - sec);
// We do not consider overflow of tm.sec.
  data.tm.sec  = static_cast<decltype(data.tm.sec)>(sec.count());
  data.tm.nsec = static_cast<decltype(data.tm.nsec)>(nsec.count());
}
 
namespace RTC
{
  template <class DataType>
  class Timestamp
    : public ConnectorDataListenerT<DataType>
  {
    USE_CONNLISTENER_STATUS;
  public:
    Timestamp(const char* ts_type) : m_tstype(ts_type) {}
    ~Timestamp() override = default;
    ReturnCode operator()(ConnectorInfo& info, DataType& data) override
    {
      if (info.properties["timestamp_policy"] != m_tstype)
        {
          return NO_CHANGE;
        }
      setTimestamp<DataType>(data);
      return DATA_CHANGED;
    }
    std::string m_tstype;
  };
} // namespace RTC
 
#endif // RTM_TIMESTAMP_H