rtt_rosclock.cpp

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#include <time.h>
#include <rtt/RTT.hpp>

#include <rtt_rosclock/rtt_rosclock.h>
#include <rtt_rosclock/rtt_rosclock_sim_clock_activity.h>
#include <rtt_rosclock/rtt_rosclock_sim_clock_thread.h>

namespace rtt_rosclock {
  boost::shared_ptr<rtt_rosclock::SimClockThread> sim_clock_thread;
}

const ros::Time rtt_rosclock::host_now()
{
  if(SimClockThread::GetInstance() && SimClockThread::GetInstance()->simTimeEnabled()) {
    return rtt_now();
  }

  #ifdef __XENO__
    // Use Xenomai 2.6 feature to get the NTP-synched real-time clock
    timespec ts = {0,0};
    int ret = clock_gettime(CLOCK_HOST_REALTIME, &ts);
    if(ret) {
      RTT::log(RTT::Error) << "Could not query CLOCK_HOST_REALTIME (" << CLOCK_HOST_REALTIME <<"): "<< errno << RTT::endlog();
      return rtt_rosclock::rtt_now();
    }

    return ros::Time(ts.tv_sec, ts.tv_nsec);
  #else
    return ros::Time::now();
  #endif
}

const ros::Time rtt_rosclock::host_wall_now()
{
  #ifdef __XENO__
    // Use Xenomai 2.6 feature to get the NTP-synched real-time clock
    timespec ts = {0,0};
    int ret = clock_gettime(CLOCK_HOST_REALTIME, &ts);
    if(ret) {
      RTT::log(RTT::Error) << "Could not query CLOCK_HOST_REALTIME (" << CLOCK_HOST_REALTIME <<"): "<< errno << RTT::endlog();
      return rtt_rosclock::rtt_wall_now();
    }

    return ros::Time(ts.tv_sec, ts.tv_nsec);
  #else
    ros::WallTime now(ros::WallTime::now());
    return ros::Time(now.sec, now.nsec);
  #endif
}

const ros::Time rtt_rosclock::rtt_now()
{
  // count the zeros...   -987654321--
  const uint64_t one_E9 = 1000000000ULL;
  // NOTE: getNSecs returns wall time, getTicks returns offset time
  uint64_t nsec64 = RTT::os::TimeService::ticks2nsecs(RTT::os::TimeService::Instance()->getTicks());
  uint32_t sec32_part = nsec64 / one_E9;
  uint32_t nsec32_part = nsec64 % one_E9;
  //RTT::log(RTT::Error) << "sec: " << sec32_part << " nsec: " << nsec32_part << RTT::endlog();
  return ros::Time(sec32_part, nsec32_part);
}

const ros::Time rtt_rosclock::rtt_wall_now()
{
  const uint64_t one_E9 = 1000000000ll;
  // NOTE: getNSecs returns wall time, getTicks returns offset time
  uint64_t nsec64 = RTT::os::TimeService::Instance()->getNSecs();
  uint64_t sec64_part = nsec64 / one_E9;
  uint64_t nsec64_part = nsec64 % one_E9;
  //RTT::log(RTT::Error) << "sec: " << sec32 << " nsec: " << nsec32 << RTT::endlog();
  return ros::Time(sec64_part, nsec64_part);
}

const RTT::Seconds rtt_rosclock::host_offset_from_rtt()
{
  return (rtt_rosclock::host_wall_now() - rtt_rosclock::rtt_wall_now()).toSec();
}

void rtt_rosclock::use_ros_clock_topic()
{
  SimClockThread::Instance()->useROSClockTopic();
}

void rtt_rosclock::use_manual_clock()
{
  SimClockThread::Instance()->useManualClock();
}

const bool rtt_rosclock::set_sim_clock_activity(RTT::TaskContext *t)
{
  if (!t) return false;
  return t->setActivity(new SimClockActivity(t->getPeriod()));
}

const bool rtt_rosclock::enable_sim()
{
  return SimClockThread::Instance()->start();
}

const bool rtt_rosclock::disable_sim()
{
  return SimClockThread::Instance()->stop();
}

void rtt_rosclock::update_sim_clock(const ros::Time new_time)
{
  SimClockThread::Instance()->updateClock(new_time);
}