rtt_rosclock_sim_clock_thread.h

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 * Software License Agreement (BSD License)
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 *  Copyright (c) 2013, Johannes Meyer, TU Darmstadt
 *  Copyright (c) 2013, Intermodalics BVBA
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 *  Copyright (c) 2014, Jonathan Bohren, The Johns Hopkins University
 *  - Generalized for multiple time sources
 *  - Integrated with rtt_rosclock package
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#ifndef __RTT_ROSCLOCK_SIM_CLOCK_THREAD_H
#define __RTT_ROSCLOCK_SIM_CLOCK_THREAD_H

#include <rtt/Service.hpp>
#include <rtt/os/Thread.hpp>
#include <rtt/os/TimeService.hpp>

#include <ros/ros.h>
#include <ros/subscriber.h>
#include <ros/callback_queue.h>

#include <rosgraph_msgs/Clock.h>

namespace rtt_rosclock {

  class SimClockThread : public RTT::os::Thread 
  {
  public:
    static boost::shared_ptr<SimClockThread> Instance();
    static boost::shared_ptr<SimClockThread> GetInstance();
    static void Release();

    virtual ~SimClockThread();

    enum SimClockSource {
      SIM_CLOCK_SOURCE_MANUAL = 0,
      SIM_CLOCK_SOURCE_ROS_CLOCK_TOPIC = 1
    };

    bool setClockSource(SimClockSource clock_source);
    bool useROSClockTopic();
    bool useManualClock();

    bool simTimeEnabled() const;

    bool updateClock(const ros::Time new_time);

  protected:

    SimClockThread();
    SimClockThread(SimClockThread const&);
    void operator=(SimClockThread const&);

    static boost::shared_ptr<SimClockThread> singleton;

    void resetTimeService();

    bool updateClockInternal(const ros::Time new_time);

    // RTT::os::Thread interface
    virtual bool initialize();
    virtual void loop();
    virtual bool breakLoop();
    virtual void finalize();

    RTT::os::TimeService *time_service_;

    SimClockSource clock_source_;
    
    bool process_callbacks_;

    ros::NodeHandle nh_;
    ros::Subscriber clock_subscriber_;
    ros::CallbackQueue callback_queue_;
    void clockMsgCallback(const rosgraph_msgs::ClockConstPtr& clock);
  };

}

#endif // ifndef __RTT_ROSCLOCK_RTT_ROSCLOCK_ACTIVITY_H