Add now() to Timer class and switch to steady clock

yifan-hou · yifan-hou · commit b39494a3e902 · 2024-03-27T15:15:27.000-07:00
Problem:
* Timer has no interface to return epoch time
* high_resolution_clock is aliased to system_clock on ubuntu

Solution
* Add a now() interface to Timer class
* Switch to steady clock
diff --git a/include/RobotUtilities/TimerLinux.h b/include/RobotUtilities/TimerLinux.h
@@ -6,15 +6,18 @@
 
 namespace RUT {
 
-typedef std::chrono::high_resolution_clock Clock;
+typedef std::chrono::steady_clock Clock;
 typedef Clock::time_point TimePoint;
 
 class Timer {
  public:
   Timer();
   ~Timer();
 
-  // time measurement functions
+  // return epoch time
+  TimePoint now();
+
+  // duration measurement
   void tic();
   double toc_ms();  // return ms
 
diff --git a/src/TimerLinux.cpp b/src/TimerLinux.cpp
@@ -13,6 +13,8 @@ Timer::Timer() {
 
 Timer::~Timer() {}
 
+TimePoint Timer::now() { return Clock::now(); }
+
 void Timer::tic() { _t1 = Clock::now(); }
 
 double Timer::toc_ms() {
