[Positioning] Timestamp: enable ns precision

Do not round to millisecond precision anymore, we now keep nanosecond
precision.

owlps-positioning/src/timestamp.cc

@@ -16,7 +16,6 @@ Timestamp::Timestamp()
 Timestamp::Timestamp(const struct timespec &source)
 {
   set(source) ;
-  round_to_ms() ;
 }
 
 
@@ -54,16 +53,6 @@ inline void Timestamp::set(const uint64_t source_ms)
 
 
 bool Timestamp::now()
-{
-  if (! now_ns())
-    return false ;
-
-  round_to_ms() ;
-  return true ;
-}
-
-
-inline bool Timestamp::now_ns()
 {
   return clock_gettime(CLOCK_REALTIME, &timestamp) == 0 ;
 }
@@ -94,7 +83,9 @@ bool Timestamp::equals(const struct timespec &source) const
 bool Timestamp::equals(const uint64_t source) const
 {
   Timestamp tmp(source) ;
-  return equals(tmp.timestamp) ;
+  Timestamp me(*this) ;
+  me.round_to_ms() ;
+  return me == tmp ;
 }
 
 
@@ -148,7 +139,7 @@ bool Timestamp::operator==(const Timestamp &source) const
 
 std::ostream& operator<<(std::ostream &os, const Timestamp &t)
 {
-  os << static_cast<uint64_t>(t) ;
+  os << t.timestamp.tv_sec << '.' << t.timestamp.tv_nsec ;
   return os ;
 }
 

owlps-positioning/src/timestamp.hh

@@ -5,7 +5,7 @@
 #include <stdint.h> // <cstdint> is not C++ 98 compliant
 #include <ostream>
 
-/// Represents a timestamp with a millisecond precision
+/// Represents a timestamp with a nanosecond precision
 /**
  * This class boxes <em>struct timespec</em> from ctime (time.h) to
  * integrate time manipulation functions.
@@ -19,13 +19,14 @@ protected:
   /** @name Internal accessors */
   //@{
   void set(const struct timespec &source) ;
-  /// Initialises the Timestamp with a value in milliseconds
+  /// Initialises the Timestamp with a value in milliseconds (deprecated)
   void set(const uint64_t source_ms) ;
   //@}
 
   /** @name Comparison functions */
   //@{
   bool equals(const struct timespec &source) const ;
+  /// Compare to a millisecond value (deprecated)
   bool equals(const uint64_t source) const ;
   bool less_than(const struct timespec &source) const ;
   bool greater_than(const struct timespec &source) const ;
@@ -33,10 +34,7 @@ protected:
 
   /** @name Operations */
   //@{
-  /// \brief Initialises #timestamp at the current time whith a
-  /// nanosecond precision
-  bool now_ns(void) ;
-  /// Lowers the precision of #timestamp to ms
+  /// Lowers the precision of #timestamp to ms (deprecated)
   void round_to_ms(void) ;
   //@}
 
@@ -44,14 +42,14 @@ protected:
 public:
   Timestamp(void) ;
   Timestamp(const struct timespec &source) ;
-  /// Constructs a Timsestamp from a value in milliseconds
+  /// Constructs a Timsestamp from a value in milliseconds (deprecated)
   Timestamp(const uint64_t source) ;
   Timestamp(const Timestamp &source) ;
 
   ~Timestamp(void) {}
 
-  /// \brief Initialises #timestamp to the current time with a
-  /// millisecond precision
+  /// \brief Initialises #timestamp at the current time whith a
+  /// nanosecond precision
   bool now(void) ;
 
   void clear(void) ;
@@ -60,25 +58,25 @@ public:
   //@{
   const Timestamp& operator=(const Timestamp &source) ;
   const Timestamp& operator=(const struct timespec &source) ;
-  const Timestamp& operator=(const uint64_t source) ;
+  const Timestamp& operator=(const uint64_t source) ; //< deprecated
   bool operator==(const Timestamp &source) const ;
   bool operator==(const struct timespec &source) const ;
-  bool operator==(const uint64_t source) const ;
+  bool operator==(const uint64_t source) const ; //< deprecated
   bool operator!=(const Timestamp &source) const ;
   bool operator!=(const struct timespec &source) const ;
-  bool operator!=(const uint64_t source) const ;
+  bool operator!=(const uint64_t source) const ; //< deprecated
   bool operator<(const Timestamp &source) const ;
   bool operator<(const struct timespec &source) const ;
-  bool operator<(const uint64_t source) const ;
+  bool operator<(const uint64_t source) const ; //< deprecated
   bool operator>(const Timestamp &source) const ;
   bool operator>(const struct timespec &source) const ;
-  bool operator>(const uint64_t source) const ;
+  bool operator>(const uint64_t source) const ; //< deprecated
   bool operator<=(const Timestamp &source) const ;
   bool operator<=(const struct timespec &source) const ;
-  bool operator<=(const uint64_t source) const ;
+  bool operator<=(const uint64_t source) const ; //< deprecated
   bool operator>=(const Timestamp &source) const ;
   bool operator>=(const struct timespec &source) const ;
-  bool operator>=(const uint64_t source) const ;
+  bool operator>=(const uint64_t source) const ; //< deprecated
   operator bool(void) const ;
   operator const struct timespec&(void) const ;
   /// Cast to milliseconds