46 lines
1.4 KiB
C#
46 lines
1.4 KiB
C#
// 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 System;
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using System.Threading;
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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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/// Acquires Unity time. Note that Time API only allows main thread access,
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/// but this class object also stores last acquired value for other threads.
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/// This is done without a warning, so the class will not behave as expected
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/// when not used by main thread.
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/// </summary>
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public class UnityTimeSource : ITimeSource
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{
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private Thread mainThread;
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private double lastReadingSecs;
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public UnityTimeSource()
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{
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mainThread = Thread.CurrentThread;
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}
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public void GetTime(out int seconds, out uint nanoseconds)
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{
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lastReadingSecs = mainThread.Equals(Thread.CurrentThread) ? Time.timeAsDouble : lastReadingSecs;
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TimeUtils.TimeFromTotalSeconds(lastReadingSecs, out seconds, out nanoseconds);
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}
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}
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} // namespace ROS2
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