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use crate::{error::ToResult, rcl_bindings::*, time::Time, to_rclrs_result};
use std::sync::{Arc, Mutex};
/// Enum to describe clock type. Redefined for readability and to eliminate the uninitialized case
/// from the `rcl_clock_type_t` enum in the binding.
#[derive(Clone, Debug, Copy)]
pub enum ClockType {
/// Time with behavior dependent on the `set_ros_time(bool)` function. If called with `true`
/// it will be driven by a manual value override, otherwise it will be System Time
RosTime = 1,
/// Wall time depending on the current system
SystemTime = 2,
/// Steady time, monotonically increasing but not necessarily equal to wall time.
SteadyTime = 3,
}
impl From<ClockType> for rcl_clock_type_t {
fn from(clock_type: ClockType) -> Self {
match clock_type {
ClockType::RosTime => rcl_clock_type_t::RCL_ROS_TIME,
ClockType::SystemTime => rcl_clock_type_t::RCL_SYSTEM_TIME,
ClockType::SteadyTime => rcl_clock_type_t::RCL_STEADY_TIME,
}
}
}
/// Struct that implements a Clock and wraps `rcl_clock_t`.
#[derive(Clone, Debug)]
pub struct Clock {
kind: ClockType,
rcl_clock: Arc<Mutex<rcl_clock_t>>,
// TODO(luca) Implement jump callbacks
}
/// A clock source that can be used to drive the contained clock. Created when a clock of type
/// `ClockType::RosTime` is constructed
pub struct ClockSource {
rcl_clock: Arc<Mutex<rcl_clock_t>>,
}
impl Clock {
/// Creates a new Clock with `ClockType::SystemTime`
pub fn system() -> Self {
Self::make(ClockType::SystemTime)
}
/// Creates a new Clock with `ClockType::SteadyTime`
pub fn steady() -> Self {
Self::make(ClockType::SteadyTime)
}
/// Creates a new Clock with `ClockType::RosTime` and a matching `ClockSource` that can be used
/// to update it
pub fn with_source() -> (Self, ClockSource) {
let clock = Self::make(ClockType::RosTime);
let clock_source = ClockSource::new(clock.rcl_clock.clone());
(clock, clock_source)
}
/// Creates a new clock of the given `ClockType`.
pub fn new(kind: ClockType) -> (Self, Option<ClockSource>) {
let clock = Self::make(kind);
let clock_source =
matches!(kind, ClockType::RosTime).then(|| ClockSource::new(clock.rcl_clock.clone()));
(clock, clock_source)
}
fn make(kind: ClockType) -> Self {
let rcl_clock;
unsafe {
// SAFETY: Getting a default value is always safe.
let allocator = rcutils_get_default_allocator();
rcl_clock = Arc::new(Mutex::new(rcl_clock_t {
type_: rcl_clock_type_t::RCL_CLOCK_UNINITIALIZED,
jump_callbacks: std::ptr::null_mut(),
num_jump_callbacks: 0,
get_now: None,
data: std::ptr::null_mut::<std::os::raw::c_void>(),
allocator,
}));
let mut allocator = rcutils_get_default_allocator();
// Function will return Err(_) only if there isn't enough memory to allocate a clock
// object.
rcl_clock_init(kind.into(), &mut *rcl_clock.lock().unwrap(), &mut allocator)
.ok()
.unwrap();
}
Self { kind, rcl_clock }
}
/// Returns the clock's `rcl_clock_t`.
pub(crate) fn get_rcl_clock(&self) -> &Arc<Mutex<rcl_clock_t>> {
&self.rcl_clock
}
/// Returns the clock's `ClockType`.
pub fn clock_type(&self) -> ClockType {
self.kind
}
/// Returns the current clock's timestamp.
pub fn now(&self) -> Time {
let mut clock = self.rcl_clock.lock().unwrap();
let mut time_point: i64 = 0;
unsafe {
// SAFETY: No preconditions for this function
rcl_clock_get_now(&mut *clock, &mut time_point);
}
Time {
nsec: time_point,
clock: Arc::downgrade(&self.rcl_clock),
}
}
}
impl Drop for ClockSource {
fn drop(&mut self) {
self.set_ros_time_enable(false);
}
}
impl PartialEq for ClockSource {
fn eq(&self, other: &Self) -> bool {
Arc::ptr_eq(&self.rcl_clock, &other.rcl_clock)
}
}
impl ClockSource {
/// Sets the value of the current ROS time.
pub fn set_ros_time_override(&self, nanoseconds: i64) {
let mut clock = self.rcl_clock.lock().unwrap();
// SAFETY: Safe if clock jump callbacks are not edited, which is guaranteed
// by the mutex
unsafe {
// Function will only fail if timer was uninitialized or not RosTime, which should
// not happen
rcl_set_ros_time_override(&mut *clock, nanoseconds)
.ok()
.unwrap();
}
}
fn new(rcl_clock: Arc<Mutex<rcl_clock_t>>) -> Self {
let source = Self { rcl_clock };
source.set_ros_time_enable(true);
source
}
/// Sets the clock to use ROS Time, if enabled the clock will report the last value set through
/// `Clock::set_ros_time_override(nanoseconds: i64)`.
fn set_ros_time_enable(&self, enable: bool) {
let mut clock = self.rcl_clock.lock().unwrap();
if enable {
// SAFETY: Safe if clock jump callbacks are not edited, which is guaranteed
// by the mutex
unsafe {
// Function will only fail if timer was uninitialized or not RosTime, which should
// not happen
rcl_enable_ros_time_override(&mut *clock).ok().unwrap();
}
} else {
// SAFETY: Safe if clock jump callbacks are not edited, which is guaranteed
// by the mutex
unsafe {
// Function will only fail if timer was uninitialized or not RosTime, which should
// not happen
rcl_disable_ros_time_override(&mut *clock).ok().unwrap();
}
}
}
}
impl Drop for rcl_clock_t {
fn drop(&mut self) {
// SAFETY: No preconditions for this function
let rc = unsafe { rcl_clock_fini(&mut *self) };
if let Err(e) = to_rclrs_result(rc) {
panic!("Unable to release Clock. {:?}", e)
}
}
}
// SAFETY: The functions accessing this type, including drop(), shouldn't care about the thread
// they are running in. Therefore, this type can be safely sent to another thread.
unsafe impl Send for rcl_clock_t {}
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn traits() {
use crate::test_helpers::*;
assert_send::<Clock>();
assert_sync::<Clock>();
}
#[test]
fn clock_system_time_now() {
let clock = Clock::system();
assert!(clock.now().nsec > 0);
}
#[test]
fn clock_ros_time_with_override() {
let (clock, source) = Clock::with_source();
// No manual time set, it should default to 0
assert!(clock.now().nsec == 0);
let set_time = 1234i64;
source.set_ros_time_override(set_time);
// Ros time is set, should return the value that was set
assert_eq!(clock.now().nsec, set_time);
}
}