nodo 0.18.5

A realtime framework for robotics
Documentation 
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// Copyright 2023 David Weikersdorfer

use crate::core::TimestampMarker;
use core::{marker::PhantomData, ops, time::Duration};
use serde::{Deserialize, Serialize};

#[derive(Debug, Clone, Copy, Serialize, Deserialize)]
pub struct Timestamp<M>(Duration, PhantomData<M>);

impl<M> Timestamp<M> {
    pub fn new(duration: Duration) -> Self {
        Self(duration, PhantomData)
    }

    pub fn abs_diff(self, other: Self) -> Duration {
        if let Some(res) = self.0.checked_sub(other.0) {
            res
        } else {
            other.0.checked_sub(self.0).unwrap()
        }
    }

    pub fn checked_sub(self, other: Self) -> Option<Duration> {
        self.0.checked_sub(other.0)
    }
}

impl<T> PartialEq for Timestamp<T> {
    fn eq(&self, other: &Timestamp<T>) -> bool {
        self.0.eq(&other.0)
    }
}

impl<T> Eq for Timestamp<T> {}

impl<T> PartialOrd for Timestamp<T> {
    fn partial_cmp(&self, other: &Self) -> Option<std::cmp::Ordering> {
        self.0.partial_cmp(&other.0)
    }
}

impl<T> Ord for Timestamp<T> {
    fn cmp(&self, other: &Self) -> std::cmp::Ordering {
        self.0.cmp(&other.0)
    }
}

impl<M> ops::Deref for Timestamp<M> {
    type Target = Duration;

    fn deref(&self) -> &Self::Target {
        &self.0
    }
}

impl<M> From<Duration> for Timestamp<M> {
    fn from(value: Duration) -> Self {
        Self(value, PhantomData)
    }
}

impl<M> From<Timestamp<M>> for Duration {
    fn from(value: Timestamp<M>) -> Self {
        value.0
    }
}

// /// A timestamp from a specific clock
// #[derive(Debug, Clone, Copy, PartialEq)]
// pub struct Timestamp {
//     clock_id: ClockId,
//     elapsed: Duration,
// }

// impl Default for Timestamp {
//     fn default() -> Self {
//         Self {
//             clock_id: ClockId::default(),
//             elapsed: Duration::from_secs_f32(0.0),
//         }
//     }
// }

// impl Timestamp {
//     pub fn new(clock_id: ClockId, elapsed: Duration) -> Self {
//         Self { clock_id, elapsed }
//     }

//     pub fn from_secs_f32(clock_id: ClockId, secs: f32) -> Self {
//         Self {
//             clock_id,
//             elapsed: Duration::from_secs_f32(secs),
//         }
//     }

//     pub fn as_secs_f32(&self) -> f32 {
//         self.elapsed.as_secs_f32()
//     }

//     pub fn as_secs_nanos(&self) -> (u64, u32) {
//         (self.elapsed.as_secs(), self.elapsed.subsec_nanos())
//     }

//     pub fn as_nanos(&self) -> u128 {
//         self.elapsed.as_nanos()
//     }

//     pub fn clock_id(&self) -> ClockId {
//         self.clock_id
//     }

//     pub fn elapsed_since_as_secs_f32(&self, earlier: &Timestamp) -> f32 {
//         assert!(self.elapsed >= earlier.elapsed);
//         (self.elapsed - earlier.elapsed).as_secs_f32()
//     }

//     pub fn elapsed_since_as_secs_f32_or_zero(&self, earlier: &Timestamp) -> f32 {
//         if self.elapsed < earlier.elapsed {
//             0.0
//         } else {
//             (self.elapsed - earlier.elapsed).as_secs_f32()
//         }
//     }

//     pub fn elapsed(&self) -> Duration {
//         self.elapsed
//     }
// }

// impl Add<f32> for Timestamp {
//     type Output = Timestamp;
//     fn add(self, delta: f32) -> Timestamp {
//         assert!(delta >= 0.0);
//         Timestamp::from_secs_f32(self.clock_id(), self.as_secs_f32() + delta)
//     }
// }

// impl PartialOrd for Timestamp {
//     fn partial_cmp(&self, rhs: &Timestamp) -> Option<Ordering> {
//         if self.clock_id() != rhs.clock_id() {
//             None
//         } else {
//             self.elapsed.partial_cmp(&rhs.elapsed)
//         }
//     }
// }

impl<M> core::fmt::Display for Timestamp<M>
where
    M: TimestampMarker,
{
    fn fmt(&self, fmt: &mut core::fmt::Formatter<'_>) -> Result<(), core::fmt::Error> {
        write!(fmt, "{:?} {}", self.0, M::display_str_short())
    }
}