include
realtime_tools
realtime_clock.h
Go to the documentation of this file.
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/*
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* Copyright (c) 2013 hiDOF, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/*
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* Publishing ROS messages is difficult, as the publish function is
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* not realtime safe. This class provides the proper locking so that
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* you can call publish in realtime and a separate (non-realtime)
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* thread will ensure that the message gets published over ROS.
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*
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* Author: Wim Meeussen
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*/
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#ifndef REALTIME_TOOLS__REALTIME_CLOCK_H_
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#define REALTIME_TOOLS__REALTIME_CLOCK_H_
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#include <
ros/ros.h
>
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#include <mutex>
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#include <thread>
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namespace
realtime_tools
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{
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class
RealtimeClock
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{
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public
:
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RealtimeClock
();
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~RealtimeClock
();
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ros::Time
getSystemTime
(
const
ros::Time
& realtime_time);
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void
loop
();
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private
:
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unsigned
int
lock_misses_
= 0;
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ros::Time
system_time_
;
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ros::Duration
clock_offset_
;
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ros::Time
last_realtime_time_
;
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bool
running_
=
false
;
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bool
initialized_
=
false
;
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std::mutex
mutex_
;
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std::thread
thread_
;
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};
// class
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}
// namespace
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#endif
ros::Time
realtime_tools::RealtimeClock::initialized_
bool initialized_
Definition:
realtime_clock.h:67
realtime_tools::RealtimeClock::last_realtime_time_
ros::Time last_realtime_time_
Definition:
realtime_clock.h:65
realtime_tools::RealtimeClock::getSystemTime
ros::Time getSystemTime(const ros::Time &realtime_time)
Definition:
realtime_clock.cpp:61
realtime_tools::RealtimeClock::~RealtimeClock
~RealtimeClock()
Definition:
realtime_clock.cpp:53
realtime_tools::RealtimeClock::mutex_
std::mutex mutex_
Definition:
realtime_clock.h:68
realtime_tools::RealtimeClock
Definition:
realtime_clock.h:50
ros.h
realtime_tools::RealtimeClock::RealtimeClock
RealtimeClock()
Definition:
realtime_clock.cpp:46
ros::Duration
realtime_tools::RealtimeClock::running_
bool running_
Definition:
realtime_clock.h:66
realtime_tools
Definition:
realtime_box.h:38
realtime_tools::RealtimeClock::lock_misses_
unsigned int lock_misses_
Definition:
realtime_clock.h:61
realtime_tools::RealtimeClock::thread_
std::thread thread_
Definition:
realtime_clock.h:69
realtime_tools::RealtimeClock::system_time_
ros::Time system_time_
Definition:
realtime_clock.h:62
realtime_tools::RealtimeClock::loop
void loop()
Definition:
realtime_clock.cpp:97
realtime_tools::RealtimeClock::clock_offset_
ros::Duration clock_offset_
Definition:
realtime_clock.h:63
realtime_tools
Author(s): Stuart Glaser
autogenerated on Mon Feb 28 2022 23:22:45