time_sync.h

#ifndef B0__UTILS__TIMESYNC_H__INCLUDED
#define B0__UTILS__TIMESYNC_H__INCLUDED

#include <cstdint>

#include <boost/thread/mutex.hpp>

namespace b0
{

class TimeSync
{
public:
    TimeSync(double max_slope = 0.5);

    virtual ~TimeSync();

    virtual int64_t hardwareTimeUSec() const;

    virtual int64_t timeUSec();

    virtual int64_t constantRateAdjustedOffset();

    virtual void updateTime(int64_t remoteTime);

private:
    /*
     * State variables related to time synchronization
     */
    int64_t target_offset_;
    int64_t max_acceptable_offset_;
    int64_t last_offset_time_;
    int64_t last_offset_value_;
    double max_slope_;
    boost::mutex mutex_;
};

} // namespace b0

#endif // B0__UTILS__TIMESYNC_H__INCLUDED