20 rosclock->doc(
"RTT service for realtime and non-realtime clock measurement.");
28 "Get a ros::Time structure based on the NTP-corrected RT time or the ROS simulation time.");
30 "Get a ros::Time structure based on the NTP-corrected RT time or the ROS wall time.");
32 "Get a ros::Time structure based on the RTT time source.");
34 "Get a ros::Time structure based on the RTT wall clock time.");
38 "Get the difference between the Orocos wall clock and the NTP-corrected wall clock in seconds (host_wall - rtt_wall).");
42 "Use the ROS /clock topic source for updating simulation time.");
44 "Use a manual source for simulation time by calling updateSimClock.");
48 "Enable simulation time based on the ROS /clock topic if the /use_sim_time parameter is set. This will override RTT::os::TimeService");
50 "Disable simulation time based on the ROS /clock topic.");
53 "Update the current simulation time and update all SimClockActivities as per their respective frequencies.").arg(
54 "time",
"Current simulated time in seconds.");
60 if (c != 0)
return false;
68 return OROCOS_TARGET_NAME;
const bool enable_sim()
Use a simulated clock source.
const RTT::Seconds host_offset_from_rtt()
Get the difference in seconds between rtt_wall_now() and host_wall_now()
bool loadRTTPlugin(RTT::TaskContext *c)
static StartStopManager * Instance()
std::string getRTTPluginName()
boost::shared_ptr< rtt_rosclock::SimClockThread > sim_clock_thread
void use_manual_clock()
Use manual clock updates.
void use_ros_clock_topic()
Use ROS /clock topic for time measurement.
void loadROSClockService()
static boost::shared_ptr< SimClockThread > Instance()
Get an instance to the singleton SimClockThread or create one.
const ros::Time rtt_wall_now()
Get the current wall time according to RTT.
void update_sim_clock(const ros::Time new_time)
Update the current simulation time and trigger all simulated TaskContexts.
std::string getRTTTargetName()
const bool disable_sim()
Do't use a simulated clock source.
const ros::Time host_now()
Get the current time according to CLOCK_HOST_REALTIME or the simulation time.
const ros::Time rtt_now()
Get the current time according to RTT.
void stopFunction(stop_fun t)
void unloadROSClockService()
static RTT_API Service::shared_ptr Instance()