Time Functions

Duration(sec::Int, nsec::Int)

Constructor, creates a Duration.

Duration(t::Number)

Constructor, creates a Duration.

Duration(rate)

Constructor, creates a Duration from a Rate.

Duration()

Default constructor, creates a Duration.

Rate(frequency::Number)

Constructor, creates a Rate.

Rate(duration)

Constructor, creates a Rate from a Duration.

Time(sec::Int, ncsec::Int)

Constructor, creates Time.

Time(t::Number)

Constructor, creates Time.

Time()

Default constructor, creates Time.

cycleTime(rate)

Get the actual run time of a cycle from start to sleep.

expectedCycleTime(rate)

Get the expected cycle time – one over the frequency passed in to the constructor.

init(time)

Initialise Time.

isSimTime(time)

Returns whether or not sim time is used.

isSystemTime(time)

Returns whether or not system time is used.

isValid(time)

Returns whether or not the current time source is valid. Simulation time is valid if it is non-zero.

now(time)

Retrieve the current time. If ROS clock time is in use, this returns the time according to the ROS clock. Otherwise returns the current wall clock time.

reset(rate)

Sets the start time for the rate to now.

setNow(time, now) = @cxx t->setNow(now)

Set now to now time.

shutdown(time)

Shuts down the Time.

sleep(duration)

Sleep for the amount of time specified by this Duration. If a signal interrupts the sleep, resleeps for the time remaining.

sleep(rate)

Sleeps for any leftover time in a cycle. Calculated from the last time sleep, reset, or the constructor was called.

sleepUntil(time, _end)

Sleep until a specific time has been reached.

toSec(duration)

Turn Duration into floating point seconds.

toSec(time)

Turn Time into floating point seconds.

useSystemTime(time)

Switch to system time.

waitForValid(time)

Wait for time source to become valid.