realtime_clock.h
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00001 /*
00002  * Copyright (c) 2013 hiDOF, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /*
00031  * Publishing ROS messages is difficult, as the publish function is
00032  * not realtime safe.  This class provides the proper locking so that
00033  * you can call publish in realtime and a separate (non-realtime)
00034  * thread will ensure that the message gets published over ROS.
00035  *
00036  * Author: Wim Meeussen
00037  */
00038 
00039 #ifndef REALTIME_TOOLS__REALTIME_CLOCK_H_
00040 #define REALTIME_TOOLS__REALTIME_CLOCK_H_
00041 
00042 #include <boost/thread/mutex.hpp>
00043 #include <boost/thread.hpp>
00044 #include <ros/ros.h>
00045 
00046 namespace realtime_tools
00047 {
00048 
00049 class RealtimeClock
00050 {
00051  public:
00052   RealtimeClock();
00053   ~RealtimeClock();
00054 
00055   ros::Time getSystemTime(const ros::Time& realtime_time);
00056   void loop();
00057 
00058 
00059  private:
00060   void lock();
00061 
00062   unsigned int lock_misses_;
00063   ros::Time system_time_;
00064   ros::Duration clock_offset_;
00065 
00066   ros::Time last_realtime_time_;
00067   bool running_, initialized_;
00068   boost::mutex mutex_;
00069   boost::thread thread_;
00070 
00071 
00072 
00073 }; // class
00074 }// namespace
00075 
00076 #endif


realtime_tools
Author(s): Stuart Glaser
autogenerated on Thu Jun 6 2019 20:05:02