realtime_clock.hpp

// Copyright (c) 2013, hiDOF, Inc.
//
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// modification, are permitted provided that the following conditions are met:
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//      notice, this list of conditions and the following disclaimer.
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//    * Redistributions in binary form must reproduce the above copyright
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//      documentation and/or other materials provided with the distribution.
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//    * Neither the name of the hiDOF, Inc. nor the names of its
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//      this software without specific prior written permission.
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/*
 * Author: Wim Meeussen
 */
 
#ifndef REALTIME_TOOLS__REALTIME_CLOCK_HPP_
#define REALTIME_TOOLS__REALTIME_CLOCK_HPP_
 
#include <mutex>
#include <thread>
 
#include "rclcpp/clock.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/time.hpp"
 
namespace realtime_tools
{
class [[deprecated("Use rclcpp::Clock or std::chrono::steady_clock instead")]] RealtimeClock
{
public:
  RealtimeClock();
 
  explicit RealtimeClock(rclcpp::Clock::SharedPtr clock);
 
  RealtimeClock(rclcpp::Clock::SharedPtr clock, rclcpp::Logger logger);
 
  ~RealtimeClock();
 
  [[deprecated]] rclcpp::Time getSystemTime(const rclcpp::Time & realtime_time = rclcpp::Time());
 
  rclcpp::Time now(const rclcpp::Time & realtime_time = rclcpp::Time());
 
private:
  void loop();
 
  rclcpp::Clock::SharedPtr clock_;
  rclcpp::Logger logger_;
  unsigned int lock_misses_ = 0;
  rclcpp::Time system_time_;
  rclcpp::Duration clock_offset_{0, 0u};
 
  rclcpp::Time last_realtime_time_;
  bool running_ = false;
  bool initialized_ = false;
  std::mutex mutex_;
  std::thread thread_;
};  // class
 
}  // namespace realtime_tools
#endif  // REALTIME_TOOLS__REALTIME_CLOCK_HPP_