text: /*
   * Copyright (c) 2017 Daniel Koch and James Jackson, BYU MAGICC Lab.
   * All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *
   * * Redistributions of source code must retain the above copyright notice, this
   *   list of conditions and the following disclaimer.
   *
   * * Redistributions in binary form must reproduce the above copyright notice,
   *   this list of conditions and the following disclaimer in the documentation
   *   and/or other materials provided with the distribution.
   *
   * * Neither the name of the copyright holder nor the names of its
   *   contributors may be used to endorse or promote products derived from
   *   this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
  
  /**
   * \file time_manager.h
   * \author Daniel Koch <daniel.koch@byu.edu>
   */
  
  #ifndef MAVROSFLIGHT_TIME_MANAGER_H
  #define MAVROSFLIGHT_TIME_MANAGER_H
  
  #include <rosflight/mavrosflight/logger_interface.h>
  #include <rosflight/mavrosflight/mavlink_bridge.h>
  #include <rosflight/mavrosflight/mavlink_comm.h>
  #include <rosflight/mavrosflight/mavlink_listener_interface.h>
  #include <rosflight/mavrosflight/time_interface.h>
  #include <rosflight/mavrosflight/timer_interface.h>
  
  #include <chrono>
  #include <memory>
  
  namespace mavrosflight
  {
  template <typename DerivedLogger>
  class TimeManager : MavlinkListenerInterface
  {
  public:
    TimeManager(MavlinkComm *comm,
                LoggerInterface<DerivedLogger> &logger,
                const TimeInterface &time_interface,
                TimerProviderInterface &timer_provider);
  
    virtual void handle_mavlink_message(const mavlink_message_t &msg);
  
    std::chrono::nanoseconds fcu_time_to_system_time(std::chrono::nanoseconds fcu_time);
  
  private:
    MavlinkComm *comm_;
  
    std::shared_ptr<TimerInterface> time_sync_timer_;
    void timer_callback();
  
    double offset_alpha_;
    std::chrono::nanoseconds offset_ns_;
  
    bool initialized_;
  
    LoggerInterface<DerivedLogger> &logger_;
    const TimeInterface &time_interface_;
    TimerProviderInterface &timer_provider_;
  };
  
  } // namespace mavrosflight
  
  #endif // MAVROSFLIGHT_TIME_MANAGER_H
  