rtt_rosclock_sim_clock_thread.h
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00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2013, Johannes Meyer, TU Darmstadt
00005  *  Copyright (c) 2013, Intermodalics BVBA
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/or other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of TU Darmstadt and Intermodalics BVBA
00019  *     nor the names of its contributors may be
00020  *     used to endorse or promote products derived
00021  *     from this software without specific prior written permission.
00022  *
00023  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00025  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00026  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00027  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00028  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00029  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00030  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00032  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00033  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00034  *  POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  *  Copyright (c) 2014, Jonathan Bohren, The Johns Hopkins University
00037  *  - Generalized for multiple time sources
00038  *  - Integrated with rtt_rosclock package
00039  *********************************************************************/
00040 
00041 #ifndef __RTT_ROSCLOCK_SIM_CLOCK_THREAD_H
00042 #define __RTT_ROSCLOCK_SIM_CLOCK_THREAD_H
00043 
00044 #include <rtt/Service.hpp>
00045 #include <rtt/os/Thread.hpp>
00046 #include <rtt/os/TimeService.hpp>
00047 
00048 #include <ros/ros.h>
00049 #include <ros/subscriber.h>
00050 #include <ros/callback_queue.h>
00051 
00052 #include <rosgraph_msgs/Clock.h>
00053 
00054 namespace rtt_rosclock {
00055 
00060   class SimClockThread : public RTT::os::Thread 
00061   {
00062   public:
00064     static boost::shared_ptr<SimClockThread> Instance();
00066     static boost::shared_ptr<SimClockThread> GetInstance();
00068     static void Release();
00069 
00070     virtual ~SimClockThread();
00071 
00073     enum SimClockSource {
00074       SIM_CLOCK_SOURCE_MANUAL = 0,
00075       SIM_CLOCK_SOURCE_ROS_CLOCK_TOPIC = 1
00076     };
00077 
00079     bool setClockSource(SimClockSource clock_source);
00081     bool useROSClockTopic();
00083     bool useManualClock();
00084 
00086     bool simTimeEnabled() const;
00087 
00096     bool updateClock(const ros::Time new_time);
00097 
00098   protected:
00099 
00101     SimClockThread();
00102     SimClockThread(SimClockThread const&);
00103     void operator=(SimClockThread const&);
00104 
00106     static boost::shared_ptr<SimClockThread> singleton;
00107 
00109     void resetTimeService();
00110 
00112     bool updateClockInternal(const ros::Time new_time);
00113 
00114     // RTT::os::Thread interface
00115     virtual bool initialize();
00116     virtual void loop();
00117     virtual bool breakLoop();
00118     virtual void finalize();
00119 
00121     RTT::os::TimeService *time_service_;
00122 
00124     SimClockSource clock_source_;
00125     
00127     bool process_callbacks_;
00128 
00130     ros::NodeHandle nh_;
00132     ros::Subscriber clock_subscriber_;
00134     ros::CallbackQueue callback_queue_;
00136     void clockMsgCallback(const rosgraph_msgs::ClockConstPtr& clock);
00137   };
00138 
00139 }
00140 
00141 #endif // ifndef __RTT_ROSCLOCK_RTT_ROSCLOCK_ACTIVITY_H
00142 
00143 
00144 


rtt_rosclock
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autogenerated on Wed Sep 16 2015 06:59:15