rate.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#ifndef CYBER_TIME_RATE_H_
#define CYBER_TIME_RATE_H_
 
#include "cyber/time/duration.h"
#include "cyber/time/time.h"
 
namespace apollo {
namespace cyber {
 
class Rate {
 public:
  explicit Rate(double frequency);
  explicit Rate(uint64_t nanoseconds);
  explicit Rate(const Duration&);
  void Sleep();
  void Reset();
  Duration CycleTime() const;
  Duration ExpectedCycleTime() const { return expected_cycle_time_; }
 
 private:
  Time start_;
  Duration expected_cycle_time_;
  Duration actual_cycle_time_;
};
 
}  // namespace cyber
}  // namespace apollo
 
#endif  // CYBER_TIME_RATE_H_