resettable.h

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// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#pragma once
 
#include <memory>
 
#include <ros/node_handle.h>
#include <ros/time.h>
 
#include <cras_cpp_common/log_utils.h>
 
namespace cras
{
 
struct ResettablePrivate;
 
class Resettable
{
public:
  explicit Resettable(const ::cras::LogHelperPtr& log);
  virtual ~Resettable();
 
  virtual void reset() = 0;
 
  virtual void initRos(const ::ros::NodeHandle& pnh);
 
private:
  ::std::unique_ptr<::cras::ResettablePrivate> data;  
};
 
struct TimeJumpResettablePrivate;
 
class TimeJumpResettable : public ::cras::Resettable
{
public:
  explicit TimeJumpResettable(const ::cras::LogHelperPtr& log);
  ~TimeJumpResettable() override;
 
  void checkTimeJump();
 
  virtual void checkTimeJump(const ::ros::Time& now);
 
  void initRos(const ::ros::NodeHandle& pnh) override;
 
  void startAutoCheckTimeJump();
 
  virtual void startAutoCheckTimeJump(const ::ros::WallRate& rate);
 
  virtual void stopAutoCheckTimeJump();
 
private:
  ::std::unique_ptr<::cras::TimeJumpResettablePrivate> data;  
};
 
}