65 lines
1.8 KiB
C#
65 lines
1.8 KiB
C#
// Copyright 2019-2022 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 System;
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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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/// A ros2 clock class that for interfacing between a time source (unity or ros2 system time) and ros2cs messages, structs.
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/// </summary>
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public class ROS2Clock
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{
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private ITimeSource _timeSource;
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public ROS2Clock() : this(new ROS2TimeSource())
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{ // By default, use ROS2TimeSource
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}
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public ROS2Clock(ITimeSource ts)
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{
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_timeSource = ts;
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}
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public void UpdateClockMessage(ref rosgraph_msgs.msg.Clock clockMessage)
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{
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int seconds;
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uint nanoseconds;
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_timeSource.GetTime(out seconds, out nanoseconds);
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clockMessage.Clock_.Sec = seconds;
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clockMessage.Clock_.Nanosec = nanoseconds;
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}
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public void UpdateROSClockTime(builtin_interfaces.msg.Time time)
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{
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int seconds;
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uint nanoseconds;
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_timeSource.GetTime(out seconds, out nanoseconds);
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time.Sec = seconds;
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time.Nanosec = nanoseconds;
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}
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public void UpdateROSTimestamp(ref ROS2.MessageWithHeader message)
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{
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int seconds;
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uint nanoseconds;
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_timeSource.GetTime(out seconds, out nanoseconds);
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message.UpdateHeaderTime(seconds, nanoseconds);
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}
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}
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} // namespace ROS2
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