#include <rtt_rosclock_sim_clock_thread.h>

Inheritance diagram for rtt_rosclock::SimClockThread:

Public Types
enum	SimClockSource { SIM_CLOCK_SOURCE_MANUAL = 0, SIM_CLOCK_SOURCE_ROS_CLOCK_TOPIC = 1 }
	Simulation clock sources. More...
Public Member Functions
bool	setClockSource (SimClockSource clock_source)
	Set the simulation clock source by ID (see ClockSource enum)
bool	simTimeEnabled () const
	Check if simulation time is enabled.
bool	updateClock (const ros::Time new_time)
bool	useManualClock ()
	Set the clock source to use a manual source, i.e. call `updateClock()` manually.
bool	useROSClockTopic ()
	Set the clock source to use the ROS /clock topic.
virtual	~SimClockThread ()
Static Public Member Functions
static boost::shared_ptr < SimClockThread >	GetInstance ()
	Get an instance to the singleton SimClockThread or NULL.
static boost::shared_ptr < SimClockThread >	Instance ()
	Get an instance to the singleton SimClockThread or create one.
static void	Release ()
	Release the singleton SimClockThread.
Protected Member Functions
virtual bool	breakLoop ()
void	clockMsgCallback (const rosgraph_msgs::ClockConstPtr &clock)
	ROS message callback for /clock topic.
virtual void	finalize ()
virtual bool	initialize ()
virtual void	loop ()
void	operator= (SimClockThread const &)
void	resetTimeService ()
	Re-set the RTT::os::TimeService to zero and restart logging.
	SimClockThread ()
	Constructor is protected, use Instance() to create and get a singleton.
	SimClockThread (SimClockThread const &)
bool	updateClockInternal (const ros::Time new_time)
	Update the RTT clock and SimClockActivities with a new time (see updateClock() for manually updating)
Protected Attributes
ros::CallbackQueue	callback_queue_
	Custom callback queue used in this thread.
SimClockSource	clock_source_
	Current clock source.
ros::Subscriber	clock_subscriber_
	ROS /clock topic subscriber.
ros::NodeHandle	nh_
	ROS NodeHandle for communication.
bool	process_callbacks_
	Keep running the thread loop if this is set to true.
RTT::os::TimeService *	time_service_
	Convenient pointer to RTT time service.
Static Protected Attributes
static boost::shared_ptr < SimClockThread >	singleton
	SimClockThread singleton.

Detailed Description

This activity subscribes to the ROS /clock topic and overrides the RTT TimeService if the `/use_sim_time` ROS parameter is set.

Definition at line 60 of file rtt_rosclock_sim_clock_thread.h.

Member Enumeration Documentation

enum rtt_rosclock::SimClockThread::SimClockSource

Simulation clock sources.

Enumerator:

SIM_CLOCK_SOURCE_MANUAL
SIM_CLOCK_SOURCE_ROS_CLOCK_TOPIC

Definition at line 73 of file rtt_rosclock_sim_clock_thread.h.

Constructor & Destructor Documentation

SimClockThread::~SimClockThread ( ) [virtual]

Definition at line 96 of file rtt_rosclock_sim_clock_thread.cpp.

SimClockThread::SimClockThread ( ) [protected]

Constructor is protected, use Instance() to create and get a singleton.

Definition at line 88 of file rtt_rosclock_sim_clock_thread.cpp.

rtt_rosclock::SimClockThread::SimClockThread ( SimClockThread const & ) [protected]

Member Function Documentation

bool SimClockThread::breakLoop ( ) [protected, virtual]

Reimplemented from RTT::os::Thread.

Definition at line 281 of file rtt_rosclock_sim_clock_thread.cpp.

void SimClockThread::clockMsgCallback ( const rosgraph_msgs::ClockConstPtr & clock ) [protected]

ROS message callback for /clock topic.

Definition at line 130 of file rtt_rosclock_sim_clock_thread.cpp.

void SimClockThread::finalize ( ) [protected, virtual]

Reimplemented from RTT::os::Thread.

Definition at line 287 of file rtt_rosclock_sim_clock_thread.cpp.

boost::shared_ptr< SimClockThread > SimClockThread::GetInstance ( ) [static]

Get an instance to the singleton SimClockThread or NULL.

Definition at line 62 of file rtt_rosclock_sim_clock_thread.cpp.

bool SimClockThread::initialize ( ) [protected, virtual]

Reimplemented from RTT::os::Thread.

Definition at line 214 of file rtt_rosclock_sim_clock_thread.cpp.

boost::shared_ptr< SimClockThread > SimClockThread::Instance ( ) [static]

Get an instance to the singleton SimClockThread or create one.

Definition at line 67 of file rtt_rosclock_sim_clock_thread.cpp.

void SimClockThread::loop ( ) [protected, virtual]

Reimplemented from RTT::os::Thread.

Definition at line 271 of file rtt_rosclock_sim_clock_thread.cpp.

void rtt_rosclock::SimClockThread::operator= ( SimClockThread const & ) [protected]

void SimClockThread::Release ( ) [static]

Release the singleton SimClockThread.

Definition at line 79 of file rtt_rosclock_sim_clock_thread.cpp.

void SimClockThread::resetTimeService ( ) [protected]

Re-set the RTT::os::TimeService to zero and restart logging.

Definition at line 191 of file rtt_rosclock_sim_clock_thread.cpp.

bool SimClockThread::setClockSource ( SimClockSource clock_source )

Set the simulation clock source by ID (see ClockSource enum)

Definition at line 101 of file rtt_rosclock_sim_clock_thread.cpp.

bool SimClockThread::simTimeEnabled ( ) const

Check if simulation time is enabled.

Definition at line 125 of file rtt_rosclock_sim_clock_thread.cpp.

bool SimClockThread::updateClock ( const ros::Time new_time )

Update the RTT clock and SimClockActivities with a new time

This can be called internally from clockMsgCallback or externally by another library (e.g. Gazebo) for in-process triggering. This can be called manually via the ros.clock global service's updateSimClock() operation.

Definition at line 136 of file rtt_rosclock_sim_clock_thread.cpp.

bool SimClockThread::updateClockInternal ( const ros::Time new_time ) [protected]

Update the RTT clock and SimClockActivities with a new time (see updateClock() for manually updating)

Definition at line 146 of file rtt_rosclock_sim_clock_thread.cpp.

bool SimClockThread::useManualClock ( )

Set the clock source to use a manual source, i.e. call `updateClock()` manually.

Definition at line 120 of file rtt_rosclock_sim_clock_thread.cpp.

bool SimClockThread::useROSClockTopic ( )

Set the clock source to use the ROS /clock topic.

Definition at line 115 of file rtt_rosclock_sim_clock_thread.cpp.