TimeBase.hpp

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// This file is part of INSTINCT, the INS Toolkit for Integrated
// Navigation Concepts and Training by the Institute of Navigation of
// the University of Stuttgart, Germany.
//
// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0. If a copy of the MPL was not distributed with this
// file, You can obtain one at https://mozilla.org/MPL/2.0/.
 
/// @file TimeBase.hpp
/// @brief Keeps track of the current real/simulation time
/// @author T. Topp (topp@ins.uni-stuttgart.de)
/// @date 2021-01-28
 
#pragma once
 
#include "Navigation/Time/InsTime.hpp"
 
namespace NAV::util::time
{
/// @brief Different Modes the Time Base class can work in
enum class Mode : uint8_t
{
    REAL_TIME,       ///< Computer clock will be added to last time update
    POST_PROCESSING, ///< Time will be set by FlowExecutor only
};
 
/// @brief Set the time mode
/// @param[in] mode Real time or postprocessing
void SetMode(Mode mode);
 
/// @brief Get the time mode
Mode GetMode();
 
/// @brief Get the current time.
/// @return Pointer to the current time or nullptr if it is not known yet.
InsTime GetCurrentInsTime();
 
/// @brief Set the current time object
/// @param[in] insTime The new current time
void SetCurrentTime(const InsTime& insTime);
 
/// @brief Set the current time object to the computer time
void SetCurrentTimeToComputerTime();
 
/// @brief Clears the current time object
void ClearCurrentTime();
 
// TODO: Remove this all. Nodes have to give the time to each other over links. Each message needs a time, not globally
 
} // namespace NAV::util::time