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/* +---------------------------------------------------------------------------+
| Mobile Robot Programming Toolkit (MRPT) |
| http://www.mrpt.org/ |
| |
| Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
| See: http://www.mrpt.org/Authors - All rights reserved. |
| Released under BSD License. See details in http://www.mrpt.org/License |
+---------------------------------------------------------------------------+ */
#include "base-precomp.h" // Precompiled headers
#include <mrpt/utils/utils_defs.h>
#include <mrpt/system/datetime.h>
#include <mrpt/system/os.h>
#ifdef MRPT_OS_WINDOWS
#include <conio.h>
#include <windows.h>
#include <process.h>
#include <tlhelp32.h>
#include <sys/utime.h>
#include <io.h>
#include <direct.h>
#else
#include <pthread.h>
#include <termios.h>
#include <unistd.h>
#include <sys/select.h>
#include <sys/time.h>
#include <unistd.h>
#include <utime.h>
#include <errno.h>
#endif
#include <time.h>
#include <sys/types.h>
#include <sys/stat.h>
using namespace mrpt;
using namespace mrpt::system;
using namespace std;
mrpt::system::TTimeStamp mrpt::system::time_tToTimestamp(const time_t &t )
{
return uint64_t(t) * UINT64_C(10000000) + UINT64_C(116444736) * UINT64_C(1000000000);
}
mrpt::system::TTimeStamp mrpt::system::time_tToTimestamp(const double &t )
{
return uint64_t(t*10000000.0)+ UINT64_C(116444736)*UINT64_C(1000000000);
}
double mrpt::system::timestampTotime_t( const mrpt::system::TTimeStamp &t )
{
return double(t - UINT64_C(116444736)*UINT64_C(1000000000)) / 10000000.0;
}
/* Jerome Monceaux 2011/03/08: bilock@gmail.com
* comment this include because it is not find
* under snow leopard
*/
#if defined(MRPT_OS_APPLE)
//# include <CFBase.h> // for CFAbsoluteTimeGetCurrent
# include <sys/timeb.h>
# include <sys/types.h>
#endif
/*---------------------------------------------------------------
Returns the current system time.
---------------------------------------------------------------*/
mrpt::system::TTimeStamp mrpt::system::getCurrentTime( )
{
#ifdef MRPT_OS_WINDOWS
FILETIME t;
GetSystemTimeAsFileTime(&t);
return (((uint64_t)t.dwHighDateTime) << 32) | ((uint64_t)t.dwLowDateTime);
#elif defined(MRPT_OS_APPLE)
/* Jerome Monceaux 2011/03/08: bilock@gmail.com
* comment the next line because it does not compile
* under snow osx and an exception was thrown systematically
*/
struct timeval tv;
timespec tim;
gettimeofday(&tv, NULL);
tim.tv_sec = tv.tv_sec;
tim.tv_nsec = tv.tv_usec*1000;
return time_tToTimestamp( tim.tv_sec ) + tim.tv_nsec/100;
#else
timespec tim;
clock_gettime(CLOCK_REALTIME, &tim);
return time_tToTimestamp( tim.tv_sec ) + tim.tv_nsec/100;
#endif
}
/*---------------------------------------------------------------
timestampToParts
---------------------------------------------------------------*/
void mrpt::system::timestampToParts( TTimeStamp t, TTimeParts &p , bool localTime)
{
const double T = mrpt::system::timestampTotime_t(t);
double sec_frac = T - floor(T);
ASSERT_(sec_frac<1.0);
const time_t tt = time_t(T);
struct tm * parts = localTime ? localtime(&tt) : gmtime(&tt);
ASSERTMSG_(parts, "Malformed timestamp");
p.year = parts->tm_year + 1900;
p.month = parts->tm_mon + 1;
p.day = parts->tm_mday;
p.day_of_week = parts->tm_wday + 1;
p.daylight_saving = parts->tm_isdst;
p.hour = parts->tm_hour;
p.minute = parts->tm_min;
p.second = parts->tm_sec + sec_frac;
}
/*---------------------------------------------------------------
buildTimestampFromParts
---------------------------------------------------------------*/
TTimeStamp mrpt::system::buildTimestampFromParts( const TTimeParts &p )
{
struct tm parts;
parts.tm_year = p.year - 1900;
parts.tm_mon = p.month-1;
parts.tm_mday = p.day;
parts.tm_wday = p.day_of_week - 1;
parts.tm_isdst = p.daylight_saving;
parts.tm_hour = p.hour;
parts.tm_min = p.minute;
parts.tm_sec = int(p.second);
double sec_frac = p.second - parts.tm_sec;
time_t tt = mrpt::system::os::timegm(&parts); // Local time: mktime
return mrpt::system::time_tToTimestamp( double(tt) + sec_frac );
}
/*---------------------------------------------------------------
buildTimestampFromPartsLocalTime
---------------------------------------------------------------*/
TTimeStamp mrpt::system::buildTimestampFromPartsLocalTime( const TTimeParts &p )
{
struct tm parts;
parts.tm_year = p.year - 1900;
parts.tm_mon = p.month-1;
parts.tm_mday = p.day;
parts.tm_wday = p.day_of_week - 1;
parts.tm_isdst = p.daylight_saving;
parts.tm_hour = p.hour;
parts.tm_min = p.minute;
parts.tm_sec = int(p.second);
double sec_frac = p.second - parts.tm_sec;
time_t tt = mktime(&parts);
return mrpt::system::time_tToTimestamp( double(tt) + sec_frac );
}
/*---------------------------------------------------------------
Returns the current local time.
---------------------------------------------------------------*/
mrpt::system::TTimeStamp mrpt::system::getCurrentLocalTime()
{
#ifdef MRPT_OS_WINDOWS
FILETIME tt,t;
GetSystemTimeAsFileTime(&tt);
FileTimeToLocalFileTime(&tt,&t);
return (((uint64_t)t.dwHighDateTime) << 32) | ((uint64_t)t.dwLowDateTime);
#elif defined(MRPT_OS_APPLE)
// See: http://www.wand.net.nz/~smr26/wordpress/2009/01/19/monotonic-time-in-mac-os-x/
THROW_EXCEPTION("to do")
#else
timespec tim;
clock_gettime(CLOCK_REALTIME, &tim);
time_t tt;
struct tm * timeinfo;
time(&tt);
timeinfo = localtime( &tt );
return time_tToTimestamp( mktime(timeinfo) ) + tim.tv_nsec/100;
#endif
}
mrpt::system::TTimeStamp mrpt::system::timestampAdd( const mrpt::system::TTimeStamp &tim, const double num_seconds)
{
return static_cast<mrpt::system::TTimeStamp>(tim + static_cast<int64_t>(num_seconds*10000000.0));
}
/*---------------------------------------------------------------
timeDifference
---------------------------------------------------------------*/
double mrpt::system::timeDifference( const mrpt::system::TTimeStamp &t1, const mrpt::system::TTimeStamp &t2 )
{
MRPT_START
ASSERT_(t1!=INVALID_TIMESTAMP)
ASSERT_(t2!=INVALID_TIMESTAMP)
return ((double)((int64_t)(t2-t1)))/10000000.0;
MRPT_END
}
/*---------------------------------------------------------------
secondsToTimestamp
---------------------------------------------------------------*/
mrpt::system::TTimeStamp mrpt::system::secondsToTimestamp( const double &nSeconds )
{
return (mrpt::system::TTimeStamp)(nSeconds*10000000.0);
}
/*---------------------------------------------------------------
formatTimeInterval
---------------------------------------------------------------*/
string mrpt::system::formatTimeInterval( const double &t )
{
double timeSeconds = (t<0) ? (-t) : t;
unsigned int nHours = (unsigned int)timeSeconds / 3600;
unsigned int nMins = ((unsigned int)timeSeconds % 3600) / 60 ;
unsigned int nSecs = (unsigned int)timeSeconds % 60;
unsigned int milSecs= (unsigned int) ( 1000*(timeSeconds - floor(timeSeconds)) );
return format(
"%02u:%02u:%02u.%03u",
nHours,
nMins,
nSecs,
milSecs );
}
/*---------------------------------------------------------------
Convert a timestamp into this textual form: YEAR/MONTH/DAY,HH:MM:SS.MMM
---------------------------------------------------------------*/
string mrpt::system::dateTimeToString(const mrpt::system::TTimeStamp &t)
{
if (t==INVALID_TIMESTAMP) return string("INVALID_TIMESTAMP");
uint64_t tmp = (t - ((uint64_t)116444736*1000000000));
time_t auxTime = tmp / (uint64_t)10000000;
unsigned int secFractions = (unsigned int)( 1000000 * (tmp % 10000000) / 10000000.0 );
tm *ptm = gmtime( &auxTime );
if (!ptm)
return std::string("(Malformed timestamp)");
return format(
"%u/%02u/%02u,%02u:%02u:%02u.%06u",
1900+ptm->tm_year,
ptm->tm_mon+1,
ptm->tm_mday,
ptm->tm_hour,
ptm->tm_min,
(unsigned int)ptm->tm_sec,
secFractions );
}
/*---------------------------------------------------------------
Convert a timestamp into this textual form (in local time):
YEAR/MONTH/DAY,HH:MM:SS.MMM
---------------------------------------------------------------*/
string mrpt::system::dateTimeLocalToString(const mrpt::system::TTimeStamp &t)
{
if (t==INVALID_TIMESTAMP) return string("INVALID_TIMESTAMP");
uint64_t tmp = (t - ((uint64_t)116444736*1000000000));
time_t auxTime = tmp / (uint64_t)10000000;
unsigned int secFractions = (unsigned int)( 1000000 * (tmp % 10000000) / 10000000.0 );
tm *ptm = localtime( &auxTime );
if (!ptm) return "(Malformed timestamp)";
return format(
"%u/%02u/%02u,%02u:%02u:%02u.%06u",
1900+ptm->tm_year,
ptm->tm_mon+1,
ptm->tm_mday,
ptm->tm_hour,
ptm->tm_min,
(unsigned int)ptm->tm_sec,
secFractions );
}
/*---------------------------------------------------------------
extractDayTimeFromTimestamp
---------------------------------------------------------------*/
double mrpt::system::extractDayTimeFromTimestamp(const mrpt::system::TTimeStamp &t)
{
MRPT_START
ASSERT_(t!=INVALID_TIMESTAMP)
#ifdef MRPT_OS_WINDOWS
SYSTEMTIME sysT;
FileTimeToSystemTime( (FILETIME*)&t, &sysT );
return sysT.wHour * 3600.0 + sysT.wMinute * 60.0 + sysT.wSecond + sysT.wMilliseconds * 0.001;
#else
time_t auxTime = (t - ((uint64_t)116444736*1000000000)) / (uint64_t)10000000;
tm *ptm = gmtime( &auxTime );
ASSERTMSG_(ptm, "Malformed timestamp");
return ptm->tm_hour * 3600.0 + ptm->tm_min * 60.0 + ptm->tm_sec;
#endif
MRPT_END
}
/*---------------------------------------------------------------
Convert a timestamp into this textual form: HH:MM:SS.MMM
---------------------------------------------------------------*/
string mrpt::system::timeLocalToString(const mrpt::system::TTimeStamp &t, unsigned int secondFractionDigits)
{
if (t==INVALID_TIMESTAMP) return string("INVALID_TIMESTAMP");
uint64_t tmp = (t - ((uint64_t)116444736*1000000000));
time_t auxTime = tmp / (uint64_t)10000000;
unsigned int secFractions = (unsigned int)( 1000000 * (tmp % 10000000) / 10000000.0 );
tm *ptm = localtime( &auxTime );
return format(
"%02u:%02u:%02u.%0*u",
ptm->tm_hour,
ptm->tm_min,
(unsigned int)ptm->tm_sec,
secondFractionDigits,
secFractions );
}
/*---------------------------------------------------------------
Convert a timestamp into this textual form: HH:MM:SS.MMM
---------------------------------------------------------------*/
string mrpt::system::timeToString(const mrpt::system::TTimeStamp &t)
{
if (t==INVALID_TIMESTAMP) return string("INVALID_TIMESTAMP");
uint64_t tmp = (t - ((uint64_t)116444736*1000000000));
time_t auxTime = tmp / (uint64_t)10000000;
unsigned int secFractions = (unsigned int)( 1000000 * (tmp % 10000000) / 10000000.0 );
tm *ptm = gmtime( &auxTime );
if (!ptm)
return string("(Malformed timestamp)");
return format(
"%02u:%02u:%02u.%06u",
ptm->tm_hour,
ptm->tm_min,
(unsigned int)ptm->tm_sec,
secFractions );
}
/*---------------------------------------------------------------
Convert a timestamp into this textual form: YEAR/MONTH/DAY
---------------------------------------------------------------*/
string mrpt::system::dateToString(const mrpt::system::TTimeStamp &t)
{
if (t==INVALID_TIMESTAMP) return string("INVALID_TIMESTAMP");
uint64_t tmp = (t - ((uint64_t)116444736*1000000000));
time_t auxTime = tmp / (uint64_t)10000000;
tm *ptm = gmtime( &auxTime );
if (!ptm)
return string("(Malformed timestamp)");
return format(
"%u/%02u/%02u",
1900+ptm->tm_year,
ptm->tm_mon+1,
ptm->tm_mday
);
}
/** This function implements time interval formatting: Given a time in seconds, it will return a string describing the interval with the most appropriate unit.
* E.g.: 1.23 year, 3.50 days, 9.3 hours, 5.3 minutes, 3.34 sec, 178.1 ms, 87.1 us.
*/
std::string
mrpt::system::intervalFormat(const double seconds)
{
if (seconds>=365*24*3600)
return format("%.2f years",seconds/(365*24*3600) );
else if (seconds>=24*3600)
return format("%.2f days",seconds/(24*3600));
else if (seconds>=3600)
return format("%.2f hours",seconds/3600);
else if (seconds>=60)
return format("%.2f minutes",seconds/60);
else if (seconds>=1)
return format("%.2f sec",seconds);
else if (seconds>=1e-3)
return format("%.2f ms",seconds*1e3);
else if (seconds>=1e-6)
return format("%.2f us",seconds*1e6);
else return format("%.2f ns",seconds*1e9);
}
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