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use rcl api for rclcpp time (#348)

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* use rcl api for rclcpp time

* address comments
This commit is contained in:
Karsten Knese 2017-08-03 20:33:32 -07:00 • committed by GitHub
parent 9281e32f82
commit 388a3ca5be
1 changed files with 45 additions and 17 deletions
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62
rclcpp/include/rclcpp/time.hpp
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@ -18,11 +18,13 @@
#include <utility> #include <utility>
#include "builtin_interfaces/msg/time.hpp" #include "builtin_interfaces/msg/time.hpp"
#include "rcl/time.h" #include "rcl/time.h"
#include "rcutils/time.h"
#include "rclcpp/exceptions.hpp" #include "rclcpp/exceptions.hpp"
#include "rcutils/logging_macros.h"
namespace rclcpp namespace rclcpp
{ {
@ -33,38 +35,64 @@ public:
static Time static Time
now() now()
{ {
rcutils_time_point_value_t rcutils_now = 0; // TODO(karsten1987): This impl throws explicitely on RCL_ROS_TIME
rcutils_ret_t ret = RCUTILS_RET_ERROR; // we have to do this, because rcl_time_source_init returns RCL_RET_OK
// for RCL_ROS_TIME, however defaults to system time under the hood.
// ref: https://github.com/ros2/rcl/blob/master/rcl/src/rcl/time.c#L66-L77
// This section can be removed when rcl supports ROS_TIME correctly.
if (ClockT == RCL_ROS_TIME) { if (ClockT == RCL_ROS_TIME) {
throw std::runtime_error("RCL_ROS_TIME is currently not implemented."); throw std::runtime_error("RCL_ROS_TIME is currently not implemented.");
ret = false;
} else if (ClockT == RCL_SYSTEM_TIME) {
ret = rcutils_system_time_now(&rcutils_now);
} else if (ClockT == RCL_STEADY_TIME) {
ret = rcutils_steady_time_now(&rcutils_now);
}
if (ret != RCUTILS_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(
ret, "Could not get current time: ");
} }
return Time(std::move(rcutils_now)); rcl_ret_t ret = RCL_RET_ERROR;
rcl_time_source_t time_source;
ret = rcl_time_source_init(ClockT, &time_source);
if (ret != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(
ret, "could not initialize time source: ");
}
rcl_time_point_t time_point;
ret = rcl_time_point_init(&time_point, &time_source);
if (ret != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(
ret, "could not initialize time point: ");
}
ret = rcl_time_point_get_now(&time_point);
if (ret != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(
ret, "could not get current time stamp: ");
}
return Time(std::move(time_point));
} }
operator builtin_interfaces::msg::Time() const operator builtin_interfaces::msg::Time() const
{ {
builtin_interfaces::msg::Time msg_time; builtin_interfaces::msg::Time msg_time;
msg_time.sec = static_cast<std::int32_t>(RCL_NS_TO_S(rcl_time_)); msg_time.sec = static_cast<std::int32_t>(RCL_NS_TO_S(rcl_time_.nanoseconds));
msg_time.nanosec = static_cast<std::uint32_t>(rcl_time_ % (1000 * 1000 * 1000)); msg_time.nanosec = static_cast<std::uint32_t>(rcl_time_.nanoseconds % (1000 * 1000 * 1000));
return msg_time; return msg_time;
} }
private: private:
rcl_time_point_value_t rcl_time_; rcl_time_point_t rcl_time_;
explicit Time(rcl_time_point_value_t && rcl_time) explicit Time(rcl_time_point_t && rcl_time)
: rcl_time_(std::forward<decltype(rcl_time)>(rcl_time)) : rcl_time_(std::forward<decltype(rcl_time)>(rcl_time))
{} {}
public:
virtual ~Time()
{
if (rcl_time_point_fini(&rcl_time_) != RCL_RET_OK) {
RCUTILS_LOG_FATAL("failed to reclaim rcl_time_point_t in destructor of rclcpp::Time")
}
}
}; };
} // namespace rclcpp } // namespace rclcpp