#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) More...

bool	simTimeEnabled () const
	Check if simulation time is enabled. More...

bool	updateClock (const ros::Time new_time)

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

bool	useROSClockTopic ()
	Set the clock source to use the ROS /clock topic. More...

virtual	~SimClockThread ()

Public Member Functions inherited from RTT::os::Thread
virtual unsigned	getCpuAffinity () const

virtual int	getMaxOverrun () const

virtual const char *	getName () const

void	getPeriod (secs &s, nsecs &ns) const

virtual Seconds	getPeriod () const

virtual nsecs	getPeriodNS () const

virtual unsigned int	getPid () const

virtual int	getPriority () const

virtual int	getScheduler () const

Seconds	getStopTimeout () const

virtual RTOS_TASK *	getTask ()

virtual const RTOS_TASK *	getTask () const

virtual bool	isActive () const

virtual bool	isPeriodic () const

virtual bool	isRunning () const

virtual bool	setCpuAffinity (unsigned cpu_affinity)

virtual void	setMaxOverrun (int m)

bool	setPeriod (Seconds s)

bool	setPeriod (TIME_SPEC p)

bool	setPeriod (secs s, nsecs ns)

virtual bool	setPriority (int priority)

virtual bool	setScheduler (int sched_type)

void	setStopTimeout (Seconds s)

virtual void	setWaitPeriodPolicy (int p)

virtual bool	start ()

virtual bool	stop ()

	Thread (int scheduler, int priority, double period, unsigned cpu_affinity, const std::string &name)

virtual void	yield ()

virtual	~Thread ()

Public Member Functions inherited from RTT::os::ThreadInterface
bool	isSelf () const

	ThreadInterface ()

unsigned int	threadNumber () const

virtual	~ThreadInterface ()

Static Public Member Functions
static boost::shared_ptr< SimClockThread >	GetInstance ()
	Get an instance to the singleton SimClockThread or NULL. More...

static boost::shared_ptr< SimClockThread >	Instance ()
	Get an instance to the singleton SimClockThread or create one. More...

static void	Release ()
	Release the singleton SimClockThread. More...

Static Public Member Functions inherited from RTT::os::Thread
static void	setLockTimeoutNoPeriod (double timeout_in_s)

static void	setLockTimeoutPeriodFactor (double factor)

static void	setStackSize (unsigned int ssize)

Protected Member Functions
virtual bool	breakLoop ()

void	clockMsgCallback (const rosgraph_msgs::ClockConstPtr &clock)
	ROS message callback for /clock topic. More...

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. More...

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

	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) More...

Protected Member Functions inherited from RTT::os::Thread
void	emergencyStop ()

virtual void	step ()

void	terminate ()

Protected Attributes
ros::CallbackQueue	callback_queue_
	Custom callback queue used in this thread. More...

SimClockSource	clock_source_
	Current clock source. More...

ros::Subscriber	clock_subscriber_
	ROS /clock topic subscriber. More...

ros::NodeHandle	nh_
	ROS NodeHandle for communication. More...

bool	process_callbacks_
	Keep running the thread loop if this is set to true. More...

RTT::os::TimeService *	time_service_
	Convenient pointer to RTT time service. More...

Protected Attributes inherited from RTT::os::Thread
bool	active

MutexRecursive	breaker

bool	inloop

int	maxOverRun

int	msched_type

NANO_TIME	period

bool	prepareForExit

RTOS_TASK	rtos_task

bool	running

rt_sem_t	sem

double	stopTimeout

Protected Attributes inherited from RTT::os::ThreadInterface
int	threadnb

Static Protected Attributes
static boost::shared_ptr< SimClockThread >	singleton
	SimClockThread singleton. More...

Static Protected Attributes inherited from RTT::os::Thread
static unsigned int	default_stack_size

static double	lock_timeout_no_period_in_s

static double	lock_timeout_period_factor

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 ( )

protectedvirtual

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 ( )

protectedvirtual

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 ( )

protectedvirtual

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 ( )

protectedvirtual

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.