ctu.nengoros.comm.rosutils.utilNode.time

Interface RosTimeUtil

All Known Implementing Classes:

DefaultTimeMaster, DefaultTimeSlave, IgnoreTime

public interface RosTimeUtil

This thing handles simulation time between the ROS network and Nengo simulator. It is to be used in the ca.nengo.util.impl.NodeThreadPool.step() method. There are three main possibilities how to run the simulation: -Nengo as a Time master (Nengo provides its simulation time to other ROS nodes) this is chosen by default. -Time is ignored by the ROS network -Nengo as a Time slave (Some of ROS nodes provides its simulation time to other ROS nodes and to the Nengo simulator)

Method Summary

Methods

Modifier and Type	Method and Description
float[]	handleTime(float startTime, float endTime) Three possibilities: -time master: this method publishes stopTime to the Clock topic, @see http://wiki.ros.org/Clock and returns unchanged values of startTIme and stopTime -time ignored: does nothing, returns unchanged values -time slave: reads the Clock value
void	simulationStopped() Used to indicate that the script was reloaded during the application run.

Method Detail

handleTime

float[] handleTime(float startTime,
                 float endTime)

Three possibilities: -time master: this method publishes stopTime to the Clock topic, @see http://wiki.ros.org/Clock and returns unchanged values of startTIme and stopTime -time ignored: does nothing, returns unchanged values -time slave: reads the Clock value

Parameters:

startTime - startTime of the Nengo simulation step

endTime - stopTime of the Nengo simulation step

Returns:

new float[startTime,stopTime], potentially changed according to external time master

simulationStopped

void simulationStopped()

Used to indicate that the script was reloaded during the application run.