time_utils.hpp

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#pragma once

#include <ros/duration.h>
#include <ros/rate.h>
#include <ros/time.h>

namespace cras
{

::ros::Duration remainingTime(const ::ros::Time& query, double timeout);

::ros::Duration remainingTime(const ::ros::Time& query, const ::ros::Duration& timeout);

double frequency(const ::ros::Rate& rate, bool maxCycleTimeMeansZero = false);

double frequency(const ::ros::WallRate& rate, bool maxCycleTimeMeansZero = false);

::ros::Rate safeRate(double frequency);

::ros::WallRate safeWallRate(double frequency);

::ros::Time nowFallbackToWall();

}

namespace ros
{

bool operator==(const ::ros::Rate& r1, const ::ros::Rate& r2);

bool operator==(const ::ros::WallRate& r1, const ::ros::WallRate& r2);

::ros::Duration operator*(const ::ros::Duration& val1, const ::ros::Duration& val2);

::ros::Duration operator/(const ::ros::Duration& numerator, const ::ros::Duration& denominator);

::ros::WallDuration operator*(const ::ros::WallDuration& val1, const ::ros::WallDuration& val2);

::ros::WallDuration operator/(const ::ros::WallDuration& numerator, const ::ros::WallDuration& denominator);

}