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#![cfg(r2r__rosgraph_msgs__msg__Clock)]
use crate::{
builtin_interfaces::msg::Time,
error::*,
msg_types::{VoidPtr, WrappedNativeMsg},
rosgraph_msgs,
subscribers::{create_subscription_helper, Subscriber_},
Clock, ClockType, Node, QosProfile, WrappedTypesupport,
};
use r2r_rcl::{
rcl_node_t, rcl_subscription_fini, rcl_subscription_t, rcl_take, rcl_time_point_value_t,
rmw_message_info_t, RCL_RET_OK,
};
use std::sync::{Arc, Mutex, Weak};
/// Provides time from `/clock` topic to attached ROS clocks
///
/// By default only clock used by ROS timers is attached and time from `/clock` topic is disabled.
///
/// The time from `/clock` topic can be activated by either of these:
/// - calling [`TimeSource::enable_sim_time`]
/// - having registered parameter handler and launching the node with parameter `use_sim_time:=true`
///
/// Similar to `rclcpp/time_source.hpp`
#[derive(Clone)]
pub struct TimeSource {
inner: Arc<Mutex<TimeSource_>>,
}
pub(crate) struct TimeSource_ {
managed_clocks: Vec<Weak<Mutex<Clock>>>,
subscriber_state: TimeSourceSubscriberState,
simulated_time_enabled: bool,
last_time_msg: rcl_time_point_value_t,
}
#[derive(Copy, Clone)]
enum TimeSourceSubscriberState {
None, // subscriber does not exist
Active,
ToBeDestroyed,
}
struct TimeSourceSubscriber {
subscriber_handle: rcl_subscription_t,
time_source: TimeSource,
}
impl TimeSource {
pub(crate) fn new() -> Self {
Self {
inner: Arc::new(Mutex::new(TimeSource_::new())),
}
}
/// Attach clock of type [`RosTime`](ClockType::RosTime) to the [`TimeSource`]
///
/// If the simulated time is enabled the [`TimeSource`] will distribute simulated time
/// to all attached clocks.
pub fn attach_ros_clock(&self, clock: Weak<Mutex<Clock>>) -> Result<()> {
let mut time_source = self.inner.lock().unwrap();
let clock_valid = clock
.upgrade()
.map(|clock_arc| {
let mut clock = clock_arc.lock().unwrap();
if !matches!(clock.get_clock_type(), ClockType::RosTime) {
return Err(Error::ClockTypeNotRosTime);
}
if time_source.simulated_time_enabled {
clock.enable_ros_time_override(time_source.last_time_msg)?;
}
Ok(())
})
.transpose()?
.is_some();
if clock_valid {
time_source.managed_clocks.push(clock);
}
// if upgrade is none no need to attach the clock since it is already dropped
Ok(())
}
/// Enables usage of simulated time
///
/// Simulated time is provided on topic `"/clock"` in the message [rosgraph_msgs::msg::Clock].
///
/// See example: sim_time_publisher.rs
pub fn enable_sim_time(&self, node: &mut Node) -> Result<()> {
let mut inner = self.inner.lock().unwrap();
if inner.simulated_time_enabled {
// already enabled nothing to do
return Ok(());
}
inner.simulated_time_enabled = true;
match inner.subscriber_state {
TimeSourceSubscriberState::None => {
let subscriber = TimeSourceSubscriber::new(&mut node.node_handle, self.clone())?;
node.subscribers.push(Box::new(subscriber));
inner.subscriber_state = TimeSourceSubscriberState::Active;
}
TimeSourceSubscriberState::ToBeDestroyed => {
inner.subscriber_state = TimeSourceSubscriberState::Active;
}
TimeSourceSubscriberState::Active => {
// nothing to do
}
}
let initial_time = inner.last_time_msg;
// enable ros time override on all attached clocks
inner.for_each_managed_clock(|clock| {
// This should never panic:
// This could only fail if the clock is invalid or not RosTime, but the clock is
// attached only if it is valid clock with type RosTime.
clock.enable_ros_time_override(initial_time).unwrap();
});
Ok(())
}
/// Disables usage of simulated time
///
/// This will schedule removal of internal subscriber to the `"/clock"` topic on the next
/// receipt of [`rosgraph_msgs::msg::Clock`] message.
pub fn disable_sim_time(&self) {
let mut inner = self.inner.lock().unwrap();
if inner.simulated_time_enabled {
inner.simulated_time_enabled = false;
// disable ros time override on all attached clocks
inner.for_each_managed_clock(|clock| {
// This should never panic:
// This could only fail if the clock is invalid or not RosTime, but the clock is
// attached only if it is valid clock with type RosTime.
clock.disable_ros_time_override().unwrap();
});
}
if matches!(inner.subscriber_state, TimeSourceSubscriberState::Active) {
inner.subscriber_state = TimeSourceSubscriberState::ToBeDestroyed;
}
}
}
impl TimeSource_ {
fn new() -> Self {
Self {
managed_clocks: vec![],
subscriber_state: TimeSourceSubscriberState::None,
simulated_time_enabled: false,
last_time_msg: 0,
}
}
fn for_each_managed_clock<F>(&mut self, mut f: F)
where
F: FnMut(&mut Clock),
{
self.managed_clocks.retain(|weak_clock| {
let Some(clock_arc) = weak_clock.upgrade() else {
// clock can be deleted
return false;
};
let mut clock = clock_arc.lock().unwrap();
f(&mut clock);
// retain clock
true
});
}
// this is similar to internal rclcpp function `set_all_clocks` in `time_source.cpp`
fn set_clock_time(&mut self, time_msg: Time) {
let time = time_msg.into();
self.last_time_msg = time;
self.for_each_managed_clock(|clock| {
// This should never panic:
// This could only fail if the clock is invalid or not RosTime, but the clock is
// attached only if it is valid RosTime clock.
clock.set_ros_time_override(time).unwrap()
});
}
}
impl TimeSourceSubscriber {
fn new(node_handle: &mut rcl_node_t, time_source: TimeSource) -> Result<TimeSourceSubscriber> {
// The values are set based on default values in rclcpp
let qos = QosProfile::default().keep_last(1).best_effort();
let subscriber = create_subscription_helper(
node_handle,
"/clock",
crate::rosgraph_msgs::msg::Clock::get_ts(),
qos,
)?;
Ok(Self {
subscriber_handle: subscriber,
time_source,
})
}
}
impl Subscriber_ for TimeSourceSubscriber {
fn handle(&self) -> &rcl_subscription_t {
&self.subscriber_handle
}
fn handle_incoming(&mut self) -> bool {
// update clock
let mut msg_info = rmw_message_info_t::default(); // we dont care for now
let mut clock_msg = WrappedNativeMsg::<rosgraph_msgs::msg::Clock>::new();
let ret = unsafe {
rcl_take(
&self.subscriber_handle,
clock_msg.void_ptr_mut(),
&mut msg_info,
std::ptr::null_mut(),
)
};
let mut inner_time_source = self.time_source.inner.lock().unwrap();
if ret == RCL_RET_OK as i32 {
let msg = rosgraph_msgs::msg::Clock::from_native(&clock_msg);
inner_time_source.set_clock_time(msg.clock);
}
match inner_time_source.subscriber_state {
TimeSourceSubscriberState::Active => {
// keep the subscriber
false
}
TimeSourceSubscriberState::ToBeDestroyed => {
inner_time_source.subscriber_state = TimeSourceSubscriberState::None;
// destroy the subscriber
true
}
TimeSourceSubscriberState::None => unreachable!(),
}
}
fn destroy(&mut self, node: &mut rcl_node_t) {
unsafe {
rcl_subscription_fini(&mut self.subscriber_handle, node);
}
}
}