Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Static Protected Attributes
rtt_rosclock::SimClockThread Class Reference

#include <rtt_rosclock_sim_clock_thread.h>

Inheritance diagram for rtt_rosclock::SimClockThread:
Inheritance graph
[legend]

List of all members.

Public Types

enum  SimClockSource { SIM_CLOCK_SOURCE_MANUAL = 0, SIM_CLOCK_SOURCE_ROS_CLOCK_TOPIC = 1 }
 Simulation clock sources. More...

Public Member Functions

bool setClockSource (SimClockSource clock_source)
 Set the simulation clock source by ID (see ClockSource enum)
bool simTimeEnabled () const
 Check if simulation time is enabled.
bool updateClock (const ros::Time new_time)
bool useManualClock ()
 Set the clock source to use a manual source, i.e. call `updateClock()` manually.
bool useROSClockTopic ()
 Set the clock source to use the ROS /clock topic.
virtual ~SimClockThread ()

Static Public Member Functions

static boost::shared_ptr
< SimClockThread
GetInstance ()
 Get an instance to the singleton SimClockThread or NULL.
static boost::shared_ptr
< SimClockThread
Instance ()
 Get an instance to the singleton SimClockThread or create one.
static void Release ()
 Release the singleton SimClockThread.

Protected Member Functions

virtual bool breakLoop ()
void clockMsgCallback (const rosgraph_msgs::ClockConstPtr &clock)
 ROS message callback for /clock topic.
virtual void finalize ()
virtual bool initialize ()
virtual void loop ()
void operator= (SimClockThread const &)
void resetTimeService ()
 Re-set the RTT::os::TimeService to zero and restart logging.
 SimClockThread ()
 Constructor is protected, use Instance() to create and get a singleton.
 SimClockThread (SimClockThread const &)
bool updateClockInternal (const ros::Time new_time)
 Update the RTT clock and SimClockActivities with a new time (see updateClock() for manually updating)

Protected Attributes

ros::CallbackQueue callback_queue_
 Custom callback queue used in this thread.
SimClockSource clock_source_
 Current clock source.
ros::Subscriber clock_subscriber_
 ROS /clock topic subscriber.
ros::NodeHandle nh_
 ROS NodeHandle for communication.
bool process_callbacks_
 Keep running the thread loop if this is set to true.
RTT::os::TimeServicetime_service_
 Convenient pointer to RTT time service.

Static Protected Attributes

static boost::shared_ptr
< SimClockThread
singleton
 SimClockThread singleton.

Detailed Description

This activity subscribes to the ROS /clock topic and overrides the RTT TimeService if the `/use_sim_time` ROS parameter is set.

Definition at line 60 of file rtt_rosclock_sim_clock_thread.h.


Member Enumeration Documentation

Simulation clock sources.

Enumerator:
SIM_CLOCK_SOURCE_MANUAL 
SIM_CLOCK_SOURCE_ROS_CLOCK_TOPIC 

Definition at line 73 of file rtt_rosclock_sim_clock_thread.h.


Constructor & Destructor Documentation

Definition at line 96 of file rtt_rosclock_sim_clock_thread.cpp.

Constructor is protected, use Instance() to create and get a singleton.

Definition at line 88 of file rtt_rosclock_sim_clock_thread.cpp.


Member Function Documentation

bool SimClockThread::breakLoop ( ) [protected, virtual]

Reimplemented from RTT::os::Thread.

Definition at line 281 of file rtt_rosclock_sim_clock_thread.cpp.

void SimClockThread::clockMsgCallback ( const rosgraph_msgs::ClockConstPtr &  clock) [protected]

ROS message callback for /clock topic.

Definition at line 130 of file rtt_rosclock_sim_clock_thread.cpp.

void SimClockThread::finalize ( ) [protected, virtual]

Reimplemented from RTT::os::Thread.

Definition at line 287 of file rtt_rosclock_sim_clock_thread.cpp.

boost::shared_ptr< SimClockThread > SimClockThread::GetInstance ( ) [static]

Get an instance to the singleton SimClockThread or NULL.

Definition at line 62 of file rtt_rosclock_sim_clock_thread.cpp.

bool SimClockThread::initialize ( ) [protected, virtual]

Reimplemented from RTT::os::Thread.

Definition at line 214 of file rtt_rosclock_sim_clock_thread.cpp.

boost::shared_ptr< SimClockThread > SimClockThread::Instance ( ) [static]

Get an instance to the singleton SimClockThread or create one.

Definition at line 67 of file rtt_rosclock_sim_clock_thread.cpp.

void SimClockThread::loop ( ) [protected, virtual]

Reimplemented from RTT::os::Thread.

Definition at line 271 of file rtt_rosclock_sim_clock_thread.cpp.

void rtt_rosclock::SimClockThread::operator= ( SimClockThread const &  ) [protected]
void SimClockThread::Release ( ) [static]

Release the singleton SimClockThread.

Definition at line 79 of file rtt_rosclock_sim_clock_thread.cpp.

void SimClockThread::resetTimeService ( ) [protected]

Re-set the RTT::os::TimeService to zero and restart logging.

Definition at line 191 of file rtt_rosclock_sim_clock_thread.cpp.

Set the simulation clock source by ID (see ClockSource enum)

Definition at line 101 of file rtt_rosclock_sim_clock_thread.cpp.

Check if simulation time is enabled.

Definition at line 125 of file rtt_rosclock_sim_clock_thread.cpp.

bool SimClockThread::updateClock ( const ros::Time  new_time)

Update the RTT clock and SimClockActivities with a new time

This can be called internally from clockMsgCallback or externally by another library (e.g. Gazebo) for in-process triggering. This can be called manually via the ros.clock global service's updateSimClock() operation.

Definition at line 136 of file rtt_rosclock_sim_clock_thread.cpp.

bool SimClockThread::updateClockInternal ( const ros::Time  new_time) [protected]

Update the RTT clock and SimClockActivities with a new time (see updateClock() for manually updating)

Definition at line 146 of file rtt_rosclock_sim_clock_thread.cpp.

Set the clock source to use a manual source, i.e. call `updateClock()` manually.

Definition at line 120 of file rtt_rosclock_sim_clock_thread.cpp.

Set the clock source to use the ROS /clock topic.

Definition at line 115 of file rtt_rosclock_sim_clock_thread.cpp.


Member Data Documentation

Custom callback queue used in this thread.

Definition at line 134 of file rtt_rosclock_sim_clock_thread.h.

Current clock source.

Definition at line 124 of file rtt_rosclock_sim_clock_thread.h.

ROS /clock topic subscriber.

Definition at line 132 of file rtt_rosclock_sim_clock_thread.h.

ROS NodeHandle for communication.

Definition at line 130 of file rtt_rosclock_sim_clock_thread.h.

Keep running the thread loop if this is set to true.

Definition at line 127 of file rtt_rosclock_sim_clock_thread.h.

boost::shared_ptr< SimClockThread > SimClockThread::singleton [static, protected]

SimClockThread singleton.

Definition at line 106 of file rtt_rosclock_sim_clock_thread.h.

Convenient pointer to RTT time service.

Definition at line 121 of file rtt_rosclock_sim_clock_thread.h.


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


rtt_rosclock
Author(s):
autogenerated on Mon Apr 3 2017 03:35:24