Program Listing for File realtime_clock.h
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// Copyright (c) 2013, hiDOF, Inc.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the hiDOF, Inc. nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
/*
* Publishing ROS messages is difficult, as the publish function is
* not realtime safe. This class provides the proper locking so that
* you can call publish in realtime and a separate (non-realtime)
* thread will ensure that the message gets published over ROS.
*
* Author: Wim Meeussen
*/
#ifndef REALTIME_TOOLS__REALTIME_CLOCK_H_
#define REALTIME_TOOLS__REALTIME_CLOCK_H_
#include <mutex>
#include <thread>
#include "rclcpp/clock.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/time.hpp"
namespace realtime_tools
{
class RealtimeClock
{
public:
RealtimeClock();
explicit RealtimeClock(rclcpp::Clock::SharedPtr clock);
RealtimeClock(rclcpp::Clock::SharedPtr clock, rclcpp::Logger logger);
~RealtimeClock();
[[deprecated]] rclcpp::Time getSystemTime(const rclcpp::Time & realtime_time = rclcpp::Time());
rclcpp::Time now(const rclcpp::Time & realtime_time = rclcpp::Time());
private:
void loop();
rclcpp::Clock::SharedPtr clock_;
rclcpp::Logger logger_;
unsigned int lock_misses_ = 0;
rclcpp::Time system_time_;
rclcpp::Duration clock_offset_{0, 0u};
rclcpp::Time last_realtime_time_;
bool running_ = false;
bool initialized_ = false;
std::mutex mutex_;
std::thread thread_;
}; // class
} // namespace realtime_tools
#endif // REALTIME_TOOLS__REALTIME_CLOCK_H_