Fawkes API  Fawkes Development Version
gazsim_timesource_thread.h
1 /***************************************************************************
2  * gazsim_timesource_plugin.cpp - Plugin sets the fawkes time
3  * to the simulation time
4  *
5  * Created: Sat Sep 21 20:56:38 2013
6  * Copyright 2013 Frederik Zwilling
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_GAZSIMTIMESOURCE_THREAD_H__
24 #define _PLUGINS_GAZSIMTIMESOURCE_THREAD_H__
25 
26 #include "../msgs/SimTime.pb.h"
27 #include "gazsim_timesource_source.h"
28 
29 #include <aspect/blocked_timing.h>
30 #include <aspect/clock.h>
31 #include <aspect/configurable.h>
32 #include <aspect/logging.h>
33 #include <core/threading/thread.h>
34 #include <google/protobuf/message.h>
35 #include <plugins/gazebo/aspect/gazebo.h>
36 
37 #include <boost/asio.hpp>
38 #include <gazebo/physics/physics.hh>
39 
40 typedef const boost::shared_ptr<gazsim_msgs::SimTime const> ConstSimTimePtr;
41 
43  public fawkes::ClockAspect,
46  public fawkes::LoggingAspect,
48 {
49 public:
52 
53  virtual void init();
54  virtual void loop();
55  virtual void finalize();
56 
57 private:
58  //Timesource to give the fawkes clock
59  fawkes::GazsimTimesource *time_source_;
60 
61  //subscriber to get time msgs from
62  gazebo::transport::SubscriberPtr time_sync_sub_;
63 
64  //handler
65  void on_time_sync_msg(ConstSimTimePtr &msg);
66 };
67 
68 #endif
fawkes::GazeboAspect
Definition: gazebo.h:42
fawkes::GazsimTimesource
Definition: gazsim_timesource_source.h:40
GazsimTimesourceThread::finalize
virtual void finalize()
Finalize the thread.
Definition: gazsim_timesource_thread.cpp:60
fawkes::BlockedTimingAspect
Definition: blocked_timing.h:56
GazsimTimesourceThread::init
virtual void init()
Initialize the thread.
Definition: gazsim_timesource_thread.cpp:43
GazsimTimesourceThread
Definition: gazsim_timesource_thread.h:42
fawkes::LoggingAspect
Definition: logging.h:38
fawkes::Thread
Definition: thread.h:45
GazsimTimesourceThread::loop
virtual void loop()
Code to execute in the thread.
Definition: gazsim_timesource_thread.cpp:68
fawkes::ConfigurableAspect
Definition: configurable.h:38
fawkes::ClockAspect
Definition: clock.h:40