66 lines
1.9 KiB
C++
66 lines
1.9 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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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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*
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*/
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/* Desc: Gazebo Time functions
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* Author: Nate Koenig, Andrew Howard
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* Date: 2 March 2006
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*/
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#include <math.h>
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#include "gazebo/common/common.hh"
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#include "gazebo/transport/transport.hh"
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#include "GazeboTime.hh"
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////////////////////////////////////////////////////////////////////////////////
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// Constructor
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GazeboTime::GazeboTime()
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{
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this->node = gazebo::transport::NodePtr(new gazebo::transport::Node());
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this->node->Init();
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this->statsSub =
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this->node->Subscribe("~/world_stats", &GazeboTime::OnStats, this);
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}
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////////////////////////////////////////////////////////////////////////////////
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// Destructor
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GazeboTime::~GazeboTime()
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{
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}
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////////////////////////////////////////////////////////////////////////////////
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void GazeboTime::OnStats(ConstWorldStatisticsPtr &_msg)
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{
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this->simTime = gazebo::msgs::Convert(_msg->sim_time());
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}
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////////////////////////////////////////////////////////////////////////////////
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// Get the simulator time
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int GazeboTime::GetTime(struct timeval *_time)
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{
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_time->tv_sec = this->simTime.sec;
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_time->tv_usec = this->simTime.nsec * 1e3;
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return 0;
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}
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////////////////////////////////////////////////////////////////////////////////
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// Get the simulator time
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int GazeboTime::GetTimeDouble(double *_time)
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{
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*_time = this->simTime.Double();
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return 0;
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}
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