/*

** Copyright (C) 2020 SoftBank Robotics Europe

** See COPYING for the license

*/

#include <qipython/pyclock.hpp>

#include <qipython/common.hpp>

#include <qipython/pyguard.hpp>

#include <qi/clock.hpp>

#include <pybind11/pybind11.h>

namespace py = pybind11;

namespace qi

{

namespace py

{

namespace

{

template<typename Clock>

typename Clock::rep now()

{

return Clock::now().time_since_epoch().count();

}

} // namespace

void exportClock(::py::module& m)

{

using namespace ::py;

using namespace ::py::literals;

GILAcquire lock;

m.def("clockNow", &now<Clock>,

doc(":returns: current timestamp on qi::Clock, as a number of nanoseconds"));

m.def("steadyClockNow", &now<SteadyClock>,

doc(":returns: current timestamp on qi::SteadyClock, as a number of nanoseconds"));

m.def("systemClockNow", &now<SystemClock>,

doc(":returns: current timestamp on qi::SystemClock, as a number of nanoseconds"));

}

} // namespace py

} // namespace qi