//
// Created by zx on 2021/5/19.
//

#ifndef ROBOT_CONTROL_FEATURE_EXTRA_SRC_TICK_HPP_
#define ROBOT_CONTROL_FEATURE_EXTRA_SRC_TICK_HPP_

#include <chrono>

class Tick
{
 public:
    Tick()
    {
        m_start=std::chrono::steady_clock::now();
        m_last_tick=m_start;
    }
    Tick(const Tick& tick)= default;
    Tick& operator=(const Tick& tick)= default;
    double tic()
    {
        auto tic=std::chrono::steady_clock::now();
        m_last_tick=tic;
        auto duration = std::chrono::duration_cast<std::chrono::microseconds>(tic - m_start);
        return double(duration.count()) * std::chrono::microseconds::period::num /
                std::chrono::microseconds::period::den;
    }
    double tic_relatively()
    {
        auto tic=std::chrono::steady_clock::now();
        auto duration = std::chrono::duration_cast<std::chrono::microseconds>(tic - m_last_tick);
        m_last_tick=tic;
        return double(duration.count()) * std::chrono::microseconds::period::num /
                std::chrono::microseconds::period::den;
    }

 private:
    std::chrono::steady_clock::time_point     m_start;
    std::chrono::steady_clock::time_point     m_last_tick;
};





#endif //ROBOT_CONTROL_FEATURE_EXTRA_SRC_TICK_HPP_