simulation_clock.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef TRAFFIC_SIMULATOR__SIMULATION_CLOCK__SIMULATION_CLOCK_HPP_
#define TRAFFIC_SIMULATOR__SIMULATION_CLOCK__SIMULATION_CLOCK_HPP_
 
#include <rclcpp/rclcpp.hpp>
#include <rosgraph_msgs/msg/clock.hpp>
 
namespace traffic_simulator
{
class SimulationClock : rclcpp::Clock
{
public:
  explicit SimulationClock(bool use_sim_time, double realtime_factor, double frame_rate);
 
  auto getCurrentRosTime() -> rclcpp::Time;
 
  auto getCurrentRosTimeAsMsg() -> rosgraph_msgs::msg::Clock;
 
  auto getCurrentScenarioTime() const
  {
    return seconds_since_the_simulator_started_ - seconds_at_the_start_of_the_scenario_;
  }
 
  auto getCurrentSimulationTime() const { return seconds_since_the_simulator_started_; }
 
  auto getStepTime() const { return realtime_factor / frame_rate_; }
 
  auto start() -> void;
 
  auto started() const { return not std::isnan(seconds_at_the_start_of_the_scenario_); }
 
  auto update() -> void;
 
  const bool use_sim_time;
 
  double realtime_factor;
 
private:
  double frame_rate_;
 
  const rclcpp::Time time_at_the_start_of_the_simulator_;
 
  double seconds_since_the_simulator_started_ = 0.0;
 
  double seconds_at_the_start_of_the_scenario_ = std::numeric_limits<double>::quiet_NaN();
};
}  // namespace traffic_simulator
 
#endif  // TRAFFIC_SIMULATOR__SIMULATION_CLOCK__SIMULATION_CLOCK_HPP_