Program Listing for File console.hpp

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#ifndef FUSE_CORE__CONSOLE_HPP_
#define FUSE_CORE__CONSOLE_HPP_

#include <chrono>

namespace fuse_core
{

// To replicate ROS 1 behavior, the throttle checking conditions were adapted from the logic here:
// https://github.com/ros/rosconsole/blob/c9503279e932a04b3d2667cca3d28a8133cacc22/include/ros/console.h
#if defined(_MSC_VER)
  #define FUSE_LIKELY(x)       (x)
  #define FUSE_UNLIKELY(x)     (x)
#else
  #define FUSE_LIKELY(x)       __builtin_expect((x), 1)
  #define FUSE_UNLIKELY(x)     __builtin_expect((x), 0)
#endif

class DelayedThrottleFilter
{
public:
  explicit DelayedThrottleFilter(const double period)
  : period_(std::chrono::duration<double, std::ratio<1>>(period))
  {
    reset();
  }

  bool isEnabled()
  {
    const auto now = std::chrono::time_point_cast<std::chrono::milliseconds>(
      std::chrono::system_clock::now());

    if (last_hit_.time_since_epoch().count() < 0.0) {
      last_hit_ = now;
      return true;
    }

    if (FUSE_UNLIKELY(last_hit_ + period_ <= now) || FUSE_UNLIKELY(now < last_hit_)) {
      last_hit_ = now;
      return true;
    }

    return false;
  }

  void reset()
  {
    last_hit_ = std::chrono::time_point_cast<std::chrono::milliseconds>(
      std::chrono::system_clock::from_time_t(-1));
  }

private:
  std::chrono::duration<double, std::ratio<1>> period_;

  std::chrono::time_point<std::chrono::system_clock> last_hit_;
};

}  // namespace fuse_core

#endif  // FUSE_CORE__CONSOLE_HPP_