dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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// Copyright (c) 2014 Google Inc. (contributed by Remy Blank <rblank@google.com>)
// Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
// Licensed under the MIT License:
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
// THE SOFTWARE.
#ifndef KJ_TIME_H_
#define KJ_TIME_H_
#if defined(__GNUC__) && !KJ_HEADER_WARNINGS
#pragma GCC system_header
#endif
#include "async.h"
#include "units.h"
#include <inttypes.h>
namespace kj {
namespace _ { // private
class NanosecondLabel;
class TimeLabel;
class DateLabel;
} // namespace _ (private)
using Duration = Quantity<int64_t, _::NanosecondLabel>;
// A time value, in nanoseconds.
constexpr Duration NANOSECONDS = unit<Duration>();
constexpr Duration MICROSECONDS = 1000 * NANOSECONDS;
constexpr Duration MILLISECONDS = 1000 * MICROSECONDS;
constexpr Duration SECONDS = 1000 * MILLISECONDS;
constexpr Duration MINUTES = 60 * SECONDS;
constexpr Duration HOURS = 60 * MINUTES;
constexpr Duration DAYS = 24 * HOURS;
using TimePoint = Absolute<Duration, _::TimeLabel>;
// An absolute time measured by some particular instance of `Timer`. `Time`s from two different
// `Timer`s may be measured from different origins and so are not necessarily compatible.
using Date = Absolute<Duration, _::DateLabel>;
// A point in real-world time, measured relative to the Unix epoch (Jan 1, 1970 00:00:00 UTC).
constexpr Date UNIX_EPOCH = origin<Date>();
// The `Date` representing Jan 1, 1970 00:00:00 UTC.
class Clock {
// Interface to read the current date and time.
public:
virtual Date now() = 0;
};
Clock& nullClock();
// A clock which always returns UNIX_EPOCH as the current time. Useful when you don't care about
// time.
class Timer {
// Interface to time and timer functionality.
//
// Each `Timer` may have a different origin, and some `Timer`s may in fact tick at a different
// rate than real time (e.g. a `Timer` could represent CPU time consumed by a thread). However,
// all `Timer`s are monotonic: time will never appear to move backwards, even if the calendar
// date as tracked by the system is manually modified.
public:
virtual TimePoint now() = 0;
// Returns the current value of a clock that moves steadily forward, independent of any
// changes in the wall clock. The value is updated every time the event loop waits,
// and is constant in-between waits.
virtual Promise<void> atTime(TimePoint time) = 0;
// Returns a promise that returns as soon as now() >= time.
virtual Promise<void> afterDelay(Duration delay) = 0;
// Equivalent to atTime(now() + delay).
template <typename T>
Promise<T> timeoutAt(TimePoint time, Promise<T>&& promise) KJ_WARN_UNUSED_RESULT;
// Return a promise equivalent to `promise` but which throws an exception (and cancels the
// original promise) if it hasn't completed by `time`. The thrown exception is of type
// "OVERLOADED".
template <typename T>
Promise<T> timeoutAfter(Duration delay, Promise<T>&& promise) KJ_WARN_UNUSED_RESULT;
// Return a promise equivalent to `promise` but which throws an exception (and cancels the
// original promise) if it hasn't completed after `delay` from now. The thrown exception is of
// type "OVERLOADED".
private:
static kj::Exception makeTimeoutException();
};
class TimerImpl final: public Timer {
// Implementation of Timer that expects an external caller -- usually, the EventPort
// implementation -- to tell it when time has advanced.
public:
TimerImpl(TimePoint startTime);
~TimerImpl() noexcept(false);
Maybe<TimePoint> nextEvent();
// Returns the time at which the next scheduled timer event will occur, or null if no timer
// events are scheduled.
Maybe<uint64_t> timeoutToNextEvent(TimePoint start, Duration unit, uint64_t max);
// Convenience method which computes a timeout value to pass to an event-waiting system call to
// cause it to time out when the next timer event occurs.
//
// `start` is the time at which the timeout starts counting. This is typically not the same as
// now() since some time may have passed since the last time advanceTo() was called.
//
// `unit` is the time unit in which the timeout is measured. This is often MILLISECONDS. Note
// that this method will fractional values *up*, to guarantee that the returned timeout waits
// until just *after* the time the event is scheduled.
//
// The timeout will be clamped to `max`. Use this to avoid an overflow if e.g. the OS wants a
// 32-bit value or a signed value.
//
// Returns nullptr if there are no future events.
void advanceTo(TimePoint newTime);
// Set the time to `time` and fire any at() events that have been passed.
// implements Timer ----------------------------------------------------------
TimePoint now() override;
Promise<void> atTime(TimePoint time) override;
Promise<void> afterDelay(Duration delay) override;
private:
struct Impl;
class TimerPromiseAdapter;
TimePoint time;
Own<Impl> impl;
};
// =======================================================================================
// inline implementation details
template <typename T>
Promise<T> Timer::timeoutAt(TimePoint time, Promise<T>&& promise) {
return promise.exclusiveJoin(atTime(time).then([]() -> kj::Promise<T> {
return makeTimeoutException();
}));
}
template <typename T>
Promise<T> Timer::timeoutAfter(Duration delay, Promise<T>&& promise) {
return promise.exclusiveJoin(afterDelay(delay).then([]() -> kj::Promise<T> {
return makeTimeoutException();
}));
}
inline TimePoint TimerImpl::now() { return time; }
} // namespace kj
#endif // KJ_TIME_H_