Source: lib/clock.js

  1. // Copyright (c) 2018 Intel Corporation. All rights reserved.
  2. //
  3. // Licensed under the Apache License, Version 2.0 (the "License");
  4. // you may not use this file except in compliance with the License.
  5. // You may obtain a copy of the License at
  6. //
  7. //     http://www.apache.org/licenses/LICENSE-2.0
  8. //
  9. // Unless required by applicable law or agreed to in writing, software
  10. // distributed under the License is distributed on an "AS IS" BASIS,
  11. // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  12. // See the License for the specific language governing permissions and
  13. // limitations under the License.
  15. 'use strict';
  17. const rclnodejs = require('bindings')('rclnodejs');
  18. const Time = require('./time.js');
  19. const ClockType = require('./clock_type.js');
  21. /**
  22.  * @class - Class representing a Clock in ROS
  23.  */
  25. class Clock {
  26.   /**
  27.    * Create a Clock.
  28.    * @param {ClockType} [clockType=Clock.ClockType.SYSTEM_TIME] - The type of the clock to be created.
  29.    */
  30.   constructor(clockType = ClockType.SYSTEM_TIME) {
  31.     this._clockType = clockType;
  32.     this._handle = rclnodejs.createClock(this._clockType);
  33.   }
  35.   /**
  36.    * @ignore
  37.    */
  38.   get handle() {
  39.     return this._handle;
  40.   }
  42.   /**
  43.    * Get ClockType of this Clock object.
  44.    * @return {ClockType} Return the type of the clock.
  45.    */
  46.   get clockType() {
  47.     return this._clockType;
  48.   }
  50.   /**
  51.    * Return the current time.
  52.    * @return {Time} Return the current time.
  53.    */
  54.   now() {
  55.     let time = rclnodejs.clockGetNow(this._handle);
  56.     return new Time(time.sec, time.nanosec, this._clockType);
  57.   }
  58. }
  60. /**
  61.  * @class - Class representing a ROSClock in ROS
  62.  */
  64. class ROSClock extends Clock {
  65.   /**
  66.    * Create a ROSClock.
  67.    */
  68.   constructor() {
  69.     super(ClockType.ROS_TIME);
  70.   }
  72.   /**
  73.    * Return status that whether the ROS time is active.
  74.    * @name ROSClock#get:isRosTimeActive
  75.    * @function
  76.    * @return {boolean} Return true if the time is active, otherwise return false.
  77.    */
  79.   get isRosTimeActive() {
  80.     return rclnodejs.getRosTimeOverrideIsEnabled(this._handle);
  81.   }
  83.   /**
  84.    * Set the status of ROS time.
  85.    * @param {boolean} enabled - Set the ROS time to be active.
  86.    * @name ROSClock#set:isRosTimeActive
  87.    * @function
  88.    * @return {undefined}
  89.    */
  91.   set isRosTimeActive(enabled) {
  92.     rclnodejs.setRosTimeOverrideIsEnabled(this._handle, enabled);
  93.   }
  95.   /**
  96.    * Set the status of ROS time.
  97.    * @param {Time} time - The time to be set override.
  98.    * @name ROSClock#set:rosTimeOverride
  99.    * @function
  100.    * @return {undefined}
  101.    */
  103.   set rosTimeOverride(time) {
  104.     if (!(time instanceof Time)) {
  105.       throw new TypeError('Invalid argument, must be type of Time');
  106.     }
  107.     rclnodejs.setRosTimeOverride(this._handle, time._handle);
  108.   }
  109. }
  111. Clock.ClockType = ClockType;
  113. module.exports = { Clock, ROSClock };