realtime_clock.h
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1 /*
2  * Copyright (c) 2013 hiDOF, Inc.
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of the Willow Garage, Inc. nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  */
29 
30 /*
31  * Publishing ROS messages is difficult, as the publish function is
32  * not realtime safe. This class provides the proper locking so that
33  * you can call publish in realtime and a separate (non-realtime)
34  * thread will ensure that the message gets published over ROS.
35  *
36  * Author: Wim Meeussen
37  */
38 
39 #ifndef REALTIME_TOOLS__REALTIME_CLOCK_H_
40 #define REALTIME_TOOLS__REALTIME_CLOCK_H_
41 
42 #include <boost/thread/mutex.hpp>
43 #include <boost/thread.hpp>
44 #include <ros/ros.h>
45 
46 namespace realtime_tools
47 {
48 
50 {
51  public:
52  RealtimeClock();
54 
55  ros::Time getSystemTime(const ros::Time& realtime_time);
56  void loop();
57 
58 
59  private:
60  void lock();
61 
62  unsigned int lock_misses_;
65 
68  boost::mutex mutex_;
69  boost::thread thread_;
70 
71 
72 
73 }; // class
74 }// namespace
75 
76 #endif
ros::Time getSystemTime(const ros::Time &realtime_time)


realtime_tools
Author(s): Stuart Glaser
autogenerated on Mon Mar 22 2021 02:20:09