cras::TimeJumpResettable Class Reference

Interface for resettable nodes and nodelets. Automatic reset on time jumps. More...

#include <resettable.h>

Inheritance diagram for cras::TimeJumpResettable:

Public Member Functions
void	checkTimeJump ()
	Check if ROS time has not jumped back. If it did, call reset(). More...
virtual void	checkTimeJump (const ::ros::Time &now)
	Check if ROS time has not jumped back. If it did, call reset(). More...
void	initRos (const ::ros::NodeHandle &pnh) override
	Initialize the ROS part of the interface - subscriber to /reset and ~reset topics, read time jump limits. More...
void	startAutoCheckTimeJump ()
	Start a background 1 Hz timer that automatically checks for time jumps. More...
virtual void	startAutoCheckTimeJump (const ::ros::WallRate &rate)
	Start a background timer that automatically checks for time jumps. More...
virtual void	stopAutoCheckTimeJump ()
	Stop the timer that automatically checks for time jumps. More...
	TimeJumpResettable (const ::cras::LogHelperPtr &log)
	Create the resettable interface. To also wire up to the reset topics and time jump resets, call initRos(). More...
	~TimeJumpResettable () override
Public Member Functions inherited from cras::Resettable
virtual void	reset ()=0
	Do the resetting. Subclasses have to implement the logic. More...
	Resettable (const ::cras::LogHelperPtr &log)
	Create the resettable interface. To also wire up to the reset topics, call initRos(). More...
virtual	~Resettable ()

Private Attributes
::std::unique_ptr<::cras::TimeJumpResettablePrivate >	data
	Private implementation (PIMPL) data. More...

Detailed Description

Interface for resettable nodes and nodelets. Automatic reset on time jumps.

This class reads the following ROS parameters when initRos() is called:

• /jump_back_tolerance (float, default 3.0 s in wall time and 0.0 s in sim time): Threshold for ROS time jump back detection.
• ~jump_back_tolerance (float, default from /jump_back_tolerance): Threshold for ROS time jump back detection.
• ~reset_on_time_jump_back (bool, default True): Whether to call reset() when ROS time jumps back.
• /jump_forward_tolerance (float, default 10.0 s in sim time and max duration in wall time): Threshold for ROS time jump forward detection.
• ~jump_forward_tolerance (float, default from /jump_forward_tolerance): Threshold for ROS time jump forward detection.
• ~reset_on_time_jump_forward (bool, default True in sim time and False in wall time): Whether to call reset() when ROS time jumps forward.

This class subscribes the following topics:

• /reset (any type): When a message is received on this topic, reset() is called.
• ~reset (any type): When a message is received on this topic, reset() is called.

Definition at line 78 of file resettable.h.

Constructor & Destructor Documentation

TimeJumpResettable()

cras::TimeJumpResettable::TimeJumpResettable ( const ::cras::LogHelperPtr &  log )

explicit

Create the resettable interface. To also wire up to the reset topics and time jump resets, call initRos().

Parameters

[in]

log

The logger to use for message logging.

~TimeJumpResettable()

cras::TimeJumpResettable::~TimeJumpResettable ( )

override

Member Function Documentation

checkTimeJump() [1/2]

void cras::TimeJumpResettable::checkTimeJump

(

)

Check if ROS time has not jumped back. If it did, call reset().

Note

This function should be called periodically. Call startAutoCheckTimeJump() to run a timer that will do these periodic calls automatically. Or you can call this function from your callbacks.

checkTimeJump() [2/2]

virtual void cras::TimeJumpResettable::checkTimeJump ( const ::ros::Time &  now )

virtual

Check if ROS time has not jumped back. If it did, call reset().

Parameters

[in]

now

The timestamp that should be interpreted as current time.

Note

This function should be called periodically. Call startAutoCheckTimeJump() to run a timer that will do these periodic calls automatically. Or you can call this function from your callbacks.

initRos()

void cras::TimeJumpResettable::initRos ( const ::ros::NodeHandle &  pnh )

overridevirtual

Initialize the ROS part of the interface - subscriber to /reset and ~reset topics, read time jump limits.

Parameters

[in]

pnh

The (private) node handle to setup the interface for.

Reimplemented from cras::Resettable.

startAutoCheckTimeJump() [1/2]

void cras::TimeJumpResettable::startAutoCheckTimeJump

(

)

Start a background 1 Hz timer that automatically checks for time jumps.

startAutoCheckTimeJump() [2/2]

virtual void cras::TimeJumpResettable::startAutoCheckTimeJump ( const ::ros::WallRate &  rate )

virtual

Start a background timer that automatically checks for time jumps.

Parameters

[in]

rate

Checking rate

stopAutoCheckTimeJump()

virtual void cras::TimeJumpResettable::stopAutoCheckTimeJump ( )

virtual

Stop the timer that automatically checks for time jumps.

Member Data Documentation

data

::std::unique_ptr<::cras::TimeJumpResettablePrivate> cras::TimeJumpResettable::data

private

Private implementation (PIMPL) data.

Definition at line 126 of file resettable.h.

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The documentation for this class was generated from the following file:

• resettable.h