rtt_rosclock_sim_clock_thread.h

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/*
 * (C) 2013, Johannes Meyer, TU Darmstadt
 * (C) 2013, Intermodalics BVBA
 * (C) 2014, Jonathan Bohren, The Johns Hopkins University
 *     - Generalized for multiple time sources
 *     - Integrated with rtt_rosclock package
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. 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.
 * 3. Neither the name of the copyright holder 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 CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

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

}

#endif // ifndef __RTT_ROSCLOCK_RTT_ROSCLOCK_ACTIVITY_H