Module utils

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Functions

rospy.Time

NTP64_to_ROStime(NTPtime)
Convert a 64bit NTP timestamp to rostime.Time

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rospy.Time

NTP64split_to_ROStime(seconds_part, fractional_part)
Convert seconds and fractional seconds to a rospy.Time object

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int

ROStime_to_NTP64(ROStime)
Convert rospy.Time object to a 64bit NTP timestamp

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int

Now_to_NTP64()
Get 64bit NTP timestamp of current system time

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str

bitString(integral_value, min_bits=8)
Return a string representation of a binary value

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Function Details

NTP64_to_ROStime(NTPtime)

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Convert a 64bit NTP timestamp to rostime.Time

Parameters:

NTPtime (int) - 64bit NTP timestamp. high 32bits are seconds, low 32bits are fractional seconds (*2^-31)

Returns: rospy.Time

rospy.Time with seconds and nanoseconds fields initialised based on input

NTP64split_to_ROStime(seconds_part, fractional_part)

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Convert seconds and fractional seconds to a rospy.Time object

Parameters:

seconds_part (int) - high 32 bits of NTP64 timestamp
fractional_part (int) - low 32 bits of NTP64 timestamp

Returns: rospy.Time

rospy.Time representation of the input

ROStime_to_NTP64(ROStime)

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Convert rospy.Time object to a 64bit NTP timestamp

Parameters:

ROStime (rospy.Time) - timestamp

Returns: int

64bit NTP representation of the input

Now_to_NTP64()

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Get 64bit NTP timestamp of current system time

Returns: int: NTP representation of current system time

bitString(integral_value, min_bits=8)

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Return a string representation of a binary value

Return a string representation of a binary value, padded with zeros in the higher order bits if necessary

Parameters:

integral_value (int) - integer or long integer to convert to bit string
min_bits (int) - minimum number of bits to display in the result (pad zeros to the left if necessary)

Returns: str

ascii string containing the binary representation of the of the input value