55 lines
1.4 KiB
C#
55 lines
1.4 KiB
C#
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// Copyright 2022 Robotec.ai.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using UnityEngine;
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namespace ROS2
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{
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/// <summary>
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/// ros2 time source (system time by default).
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/// </summary>
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public class ROS2TimeSource : ITimeSource
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{
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private ROS2.Clock clock;
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public void GetTime(out int seconds, out uint nanoseconds)
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{
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if (!ROS2.Ros2cs.Ok())
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{
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seconds = 0;
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nanoseconds = 0;
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Debug.LogWarning("Cannot acquire valid ros time, ros either not initialized or shut down already");
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return;
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}
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if (clock == null)
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{ // Create clock which uses system time by default (unless use_sim_time is set in ros2)
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clock = new ROS2.Clock();
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}
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TimeUtils.TimeFromTotalSeconds(clock.Now.Seconds, out seconds, out nanoseconds);
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}
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~ROS2TimeSource()
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{
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if (clock != null)
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{
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clock.Dispose();
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}
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}
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}
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} // namespace ROS2
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