Revision 8db9ba4f

View differences:

include/humotion/timestamp.h
37 37 
public:
38 38 
    Timestamp(void);
39 39 
    Timestamp(int32_t _sec, int32_t _nsec);
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    Timestamp(double dsec);
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    void set(int32_t _sec, int32_t _nsec);


  		




  
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    void set(Timestamp a);


  		




  
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    static Timestamp now(void);


  		




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    double to_seconds(void);


  		




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      src/server/middleware_rsb.cpp
    
  





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using namespace rsb;


  		




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using namespace rsb::patterns;


  		




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WARNING: RSB interface might be deprtecated and needs some backporting


  		




  
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from the ROS code. [todo]


  		




  
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//! constructor


  		




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MiddlewareRSB::MiddlewareRSB(string scope, Controller *c) : Middleware(scope, c){


  		




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    printf("> using RSB middleware\n");


  		




  ......




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    GazeState gaze_state;


  		




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    if (msg->type() == rst::robot::HumotionGazeTarget::ABSOLUTE){


  		




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        gaze_state.type = GazeState::ABSOLUTE;


  		




  
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    if (msg->gaze_type() == rst::robot::HumotionGazeTarget::ABSOLUTE){


  		




  
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        gaze_state.gaze_type = GazeState::ABSOLUTE;


  		




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    }else{


  		




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        gaze_state.type = GazeState::RELATIVE;


  		




  
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        gaze_state.gaze_type = GazeState::RELATIVE;


  		




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    }


  		




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    gaze_state.pan  = msg->pan();


  		




  ......




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    gaze_state.eyeblink_request_left = msg->eyeblink_request_left();


  		




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    gaze_state.eyeblink_request_right = msg->eyeblink_request_right();


  		




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    gaze_state.timestamp = event->getMetaData().getCreateTime() / 1000.0; //createTime() returns milliseconds -> convert to seconds


  		




  
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    gaze_state.timestamp = msg->gaze_timestamp(); FIXME: convert RSB timestamp to our representation


  		




  
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    //event->getMetaData().getCreateTime() / 1000.0; //createTime() returns milliseconds -> convert to seconds


  		




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    controller->set_gaze_target(gaze_state);


  		




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}


  		












  

    
      src/timestamp.cpp
    
  





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#include "timestamp.h"


  		




  
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#include <math.h>


  		




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using namespace std;


  		




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using namespace humotion;


  		




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Timestamp::Timestamp(void){


  		




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    //init of an empty timestamp will be assigned to the current system time


  		




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    struct timespec tp;


  		




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    clock_gettime(CLOCK_REALTIME, &tp);


  		




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    sec  = tp.tv_sec;


  		




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    nsec = tp.tv_nsec;


  		




  
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    set(now());


  		




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}


  		




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Timestamp::Timestamp(int32_t _sec, int32_t _nsec){


  		




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    set(_sec, _nsec);


  		




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}


  		




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Timestamp::Timestamp(double dsec){


  		




  
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    double fsec, fnsec;


  		




  
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    fnsec = modf (dsec , &fsec);


  		




  
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    sec  = fsec;


  		




  
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    nsec = fnsec * 1000000000.0;


  		




  
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}


  		




  
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Timestamp Timestamp::now(void){


  		




  
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    Timestamp res;


  		




  
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    struct timespec tp;


  		




  
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    clock_gettime(CLOCK_REALTIME, &tp);


  		




  
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    res.set(tp.tv_sec, tp.tv_nsec);


  		




  
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    return res;


  		




  
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}


  		




  
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void Timestamp::set(int32_t _sec, int32_t _nsec){


  		




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    sec  = _sec;


  		




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    nsec = _nsec;


  		




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}


  		




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void Timestamp::set(Timestamp a){


  		




  
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    set(a.sec, a.nsec);


  		




  
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}


  		




  
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double Timestamp::to_seconds(void){


  		




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    return sec + ((double)nsec)/1000000000.0;


  		




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}


  		












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