Class: ROS::Time

Inherits:

TimeValue

• Object
• TimeValue
• ROS::Time

show all

Defined in:

lib/ros/time.rb

Overview

Constant Summary

SIM_TIME_PARAMETER =

parameter name for switching sim/wall time.

'/use_sim_time'

@@use_sim_time =

use simulated time?

false

@@current_sim_time =

current simulated time

nil

@@clock_subscriber =

subscriber for /clock

nil

Instance Attribute Summary

Attributes inherited from TimeValue

#nsecs, #secs

Class Method Summary (collapse)

• + (ROS::Time) get_simtime

  get the simulated time.

• + (ROS::Time) get_walltime

  get the system real time.

• + (Object) initialize_with_sim_or_wall(node)

  initialize Time.

• + (Object) now

  initialize with current time.

Instance Method Summary (collapse)

• - (Time) +(duration)

  add time value.

• - (Duration) -(other)

  subtract time value.

• - (Time) initialize(time = nil) constructor

  A new instance of Time.

• - (Time) to_time

  returns ruby Time object.

Methods inherited from TimeValue

#<=>, #canonicalize, #to_nsec, #to_sec

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# File 'lib/ros/time.rb', line 137

def initialize(time=nil)
  if time
    @secs = time.to_i
    @nsecs = ((time.to_f - @secs) * 1e9.to_i).to_i
  else
    @secs = 0
    @nsecs = 0
  end
  canonicalize
end

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# File 'lib/ros/time.rb', line 121

def self.get_simtime
  @@current_sim_time
end

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# File 'lib/ros/time.rb', line 114

def self.get_walltime
  self.new(::Time::now)
end

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# File 'lib/ros/time.rb', line 88

def self.initialize_with_sim_or_wall(node)
  @@use_sim_time = node.get_param(SIM_TIME_PARAMETER, false)
  if @@use_sim_time and not @@clock_subscriber
    puts 'initializing simulated clock (/clock)'
    @@clock_subscriber = node.subscribe('/clock',
                                        Rosgraph_msgs::Clock) do |msg|
      @@current_sim_time = msg.clock
    end
    @@sim_thread = Thread.new do
      while node.ok?
        @@clock_subscriber.process_queue
      end
    end
  elsif not @@use_sim_time and @@clock_subscriber
    begin
      @@clock_subscriber.shutdown
    rescue => e
      # even if node is already shutdown, do nothing.
    end
    @@current_sim_time = nil
  end
end

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# File 'lib/ros/time.rb', line 126

def self.now
  if @@current_sim_time
    @@current_sim_time
  else
    self.new(::Time::now)
  end
end

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# File 'lib/ros/time.rb', line 151

def +(duration)
  tm = ::ROS::Time.new
  tm.secs = @secs + duration.secs
  tm.nsecs = @nsecs + duration.nsecs
  tm.canonicalize
end

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# File 'lib/ros/time.rb', line 161

def -(other)
  d = ::ROS::Duration.new
  d.secs = @secs - other.secs
  d.nsecs = @nsecs - other.nsecs
  d.canonicalize
end

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# File 'lib/ros/time.rb', line 170

def to_time
  ::Time.at(@secs, @nsecs)
end