Replaced common::Time for std::chrono

examples/save_image/main.cc

@@ -113,7 +113,7 @@ int main()
  cameraSensor->ConnectImageCallback(&OnImageFrame);
 
  // Force the camera to generate an image
- mgr.RunOnce(ignition::common::Time::Zero, true);
+ mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
 
  return 0;
 }

include/ignition/sensors/AirPressureSensor.hh

@@ -67,7 +67,14 @@ namespace ignition
  /// \brief Update the sensor and generate data
  /// \param[in] _now The current time
  /// \return true if the update was successfull
- public: virtual bool Update(const common::Time &_now) override;
+ public: virtual bool IGN_DEPRECATED(4) Update(
+ const ignition::common::Time &_now) override;
+
+ /// \brief Update the sensor and generate data
+ /// \param[in] _now The current time
+ /// \return true if the update was successfull
+ public: virtual bool Update(
+ const std::chrono::steady_clock::duration &_now) override;
 
  /// \brief Set the reference altitude.
  /// \param[in] _ref Verical reference position in meters

include/ignition/sensors/AltimeterSensor.hh

@@ -67,7 +67,14 @@ namespace ignition
  /// \brief Update the sensor and generate data
  /// \param[in] _now The current time
  /// \return true if the update was successfull
- public: virtual bool Update(const common::Time &_now) override;
+ public: virtual bool IGN_DEPRECATED(4) Update(
+ const ignition::common::Time &_now) override;
+
+ /// \brief Update the sensor and generate data
+ /// \param[in] _now The current time
+ /// \return true if the update was successfull
+ public: virtual bool Update(
+ const std::chrono::steady_clock::duration &_now) override;
 
  /// \brief Set the vertical reference position of the altimeter
  /// \param[in] _ref Verical reference position in meters

include/ignition/sensors/CameraSensor.hh

@@ -73,10 +73,17 @@ namespace ignition
  /// \return True on success
  public: virtual bool Init() override;
 
+ /// \brief Update the sensor and generate data
+ /// \param[in] _now The current time
+ /// \return true if the update was successfull
+ public: virtual bool IGN_DEPRECATED(4) Update(
+ const ignition::common::Time &_now) override;
+
  /// \brief Force the sensor to generate data
  /// \param[in] _now The current time
  /// \return true if the update was successfull
- public: virtual bool Update(const common::Time &_now) override;
+ public: virtual bool Update(
+ const std::chrono::steady_clock::duration &_now) override;
 
  /// \brief Set a callback to be called when image frame data is
  /// generated.
@@ -138,7 +145,8 @@ namespace ignition
 
  /// \brief Publish camera info message.
  /// \param[in] _now The current time
- protected: void PublishInfo(const ignition::common::Time &_now);
+ protected: void PublishInfo(
+ const std::chrono::steady_clock::duration &_now);
 
  /// \brief Create a camera in a scene
  /// \return True on success.

include/ignition/sensors/DepthCameraSensor.hh

@@ -79,7 +79,8 @@ namespace ignition
  /// \brief Force the sensor to generate data
  /// \param[in] _now The current time
  /// \return true if the update was successfull
- public: virtual bool Update(const common::Time &_now) override;
+ public: virtual bool Update(
+ const std::chrono::steady_clock::duration &_now) override;
 
  /// \brief Force the sensor to generate data
  /// \param[in] _now The current time

include/ignition/sensors/GpuLidarSensor.hh

@@ -58,7 +58,8 @@ namespace ignition
  /// \brief Force the sensor to generate data
  /// \param[in] _now The current time
  /// \return true if the update was successfull
- public: virtual bool Update(const common::Time &_now) override;
+ public: virtual bool Update(
+ const std::chrono::steady_clock::duration &_now) override;
 
  /// \brief Initialize values in the sensor
  /// \return True on success

include/ignition/sensors/ImuSensor.hh

@@ -68,7 +68,14 @@ namespace ignition
  /// \brief Update the sensor and generate data
  /// \param[in] _now The current time
  /// \return true if the update was successfull
- public: virtual bool Update(const common::Time &_now) override;
+ public: virtual bool IGN_DEPRECATED(4) Update(
+ const ignition::common::Time &_now) override;
+
+ /// \brief Update the sensor and generate data
+ /// \param[in] _now The current time
+ /// \return true if the update was successfull
+ public: virtual bool Update(
+ const std::chrono::steady_clock::duration &_now) override;
 
  /// \brief Set the angular velocity of the imu
  /// \param[in] _angularVel Angular velocity of the imu in body frame

include/ignition/sensors/Lidar.hh

@@ -53,15 +53,23 @@ namespace ignition
  /// \brief destructor
  public: virtual ~Lidar();
 
+ /// \brief Update the sensor and generate data
+ /// \param[in] _now The current time
+ /// \return true if the update was successfull
+ public: virtual bool IGN_DEPRECATED(4) Update(
+ const ignition::common::Time &_now) override;
+
  /// \brief Force the sensor to generate data
  /// \param[in] _now The current time
  /// \return true if the update was successfull
- public: virtual bool Update(const common::Time &_now) override;
+ public: virtual bool Update(
+ const std::chrono::steady_clock::duration &_now) override;
 
  /// \brief Publish LaserScan message
  /// \param[in] _now The current time
  /// \return true if the update was successfull
- public: virtual bool PublishLidarScan(const common::Time &_now);
+ public: virtual bool PublishLidarScan(
+ const std::chrono::steady_clock::duration &_now);
 
  /// \brief Load the sensor based on data from an sdf::Sensor object.
  /// \param[in] _sdf SDF Sensor parameters.

include/ignition/sensors/LogicalCameraSensor.hh

@@ -68,10 +68,17 @@ namespace ignition
  /// \return True on success
  public: virtual bool Init() override;
 
+ /// \brief Update the sensor and generate data
+ /// \param[in] _now The current time
+ /// \return true if the update was successfull
+ public: virtual bool IGN_DEPRECATED(4) Update(
+ const ignition::common::Time &_now) override;
+
  /// \brief Force the sensor to generate data
  /// \param[in] _now The current time
  /// \return true if the update was successfull
- public: virtual bool Update(const common::Time &_now) override;
+ public: virtual bool Update(
+ const std::chrono::steady_clock::duration &_now) override;
 
  /// \brief Get the near distance. This is the distance from the
  /// frustum's vertex to the closest plane.

include/ignition/sensors/MagnetometerSensor.hh

@@ -68,7 +68,14 @@ namespace ignition
  /// \brief Update the sensor and generate data
  /// \param[in] _now The current time
  /// \return true if the update was successfull
- public: virtual bool Update(const common::Time &_now) override;
+ public: virtual bool IGN_DEPRECATED(4) Update(
+ const ignition::common::Time &_now) override;
+
+ /// \brief Update the sensor and generate data
+ /// \param[in] _now The current time
+ /// \return true if the update was successfull
+ public: virtual bool Update(
+ const std::chrono::steady_clock::duration &_now) override;
 
  /// \brief Set the world pose of the sensor
  /// \param[in] _pose Pose in world frame

include/ignition/sensors/Manager.hh

@@ -188,7 +188,7 @@ namespace ignition
  /// \param _time: The current simulated time
  /// \param _force: If true, all sensors are forced to update. Otherwise
  /// a sensor will update based on it's Hz rate.
- public: void RunOnce(const ignition::common::Time &_time,
+ public: void RunOnce(const std::chrono::steady_clock::duration &_time,
  bool _force = false);
 
  /// \brief Adds colon delimited paths sensor plugins may be

include/ignition/sensors/RgbdCameraSensor.hh

@@ -69,7 +69,8 @@ namespace ignition
  /// \brief Force the sensor to generate data
  /// \param[in] _now The current time
  /// \return true if the update was successful
- public: virtual bool Update(const common::Time &_now) override;
+ public: virtual bool Update(
+ const std::chrono::steady_clock::duration &_now) override;
 
  /// \brief Set the rendering scene.
  /// \param[in] _scene Pointer to the scene

include/ignition/sensors/Sensor.hh

@@ -81,10 +81,47 @@ namespace ignition
  /// \param[in] _now The current time
  /// \return true if the update was successfull
  /// \sa SetUpdateRate()
- public: virtual bool Update(const common::Time &_now) = 0;
+ public:
+ virtual bool IGN_DEPRECATED(3) Update(const common::Time &_now) = 0;
+
+ /// \brief Force the sensor to generate data
+ ///
+ /// This method must be overridden by sensors. Subclasses should not
+ /// not make a decision about whether or not they need to update. The
+ /// Sensor class will make sure Update() is called at the correct time.
+ ///
+ /// If a subclass wants to have a variable update rate it should call
+ /// SetUpdateRate().
+ ///
+ /// A subclass should return false if there was an error while updating
+ /// \param[in] _now The current time
+ /// \return true if the update was successfull
+ /// \sa SetUpdateRate()
+ public: virtual bool Update(
+ const std::chrono::steady_clock::duration &_now) = 0;
 
  /// \brief Return the next time the sensor will generate data
- public: common::Time NextUpdateTime() const;
+ public: ignition::common::Time IGN_DEPRECATED(3) NextUpdateTime() const;
+
+ /// \brief Return the next time the sensor will generate data
+ public: std::chrono::steady_clock::duration NextDataUpdateTime() const;
+
+ /// \brief Update the sensor.
+ ///
+ /// This is called by the manager, and is responsible for determining
+ /// if this sensor needs to generate data at this time. If so, the
+ /// subclasses' Update() method will be called.
+ /// \param[in] _now The current time
+ /// \param[in] _force Force the update to happen even if it's not time
+ /// \return True if the update was triggered (_force was true or _now
+ /// >= next_update_time) and the sensor's
+ /// bool Sensor::Update(std::chrono::steady_clock::time_point)
+ /// function returned true.
+ /// False otherwise.
+ /// \remarks If forced the NextUpdateTime() will be unchanged.
+ /// \sa virtual bool Update(const common::Time &_name) = 0
+ public: bool IGN_DEPRECATED(3)
+ Update(const common::Time &_now, const bool _force);
 
  /// \brief Update the sensor.
  ///
@@ -95,11 +132,13 @@ namespace ignition
  /// \param[in] _force Force the update to happen even if it's not time
  /// \return True if the update was triggered (_force was true or _now
  /// >= next_update_time) and the sensor's
- /// bool Sensor::Update(const common::Time &_now) function returned true.
+ /// bool Sensor::Update(std::chrono::steady_clock::time_point)
+ /// function returned true.
  /// False otherwise.
  /// \remarks If forced the NextUpdateTime() will be unchanged.
  /// \sa virtual bool Update(const common::Time &_name) = 0
- public: bool Update(const common::Time &_now, const bool _force);
+ public: bool Update(
+ const std::chrono::steady_clock::duration &_now, const bool _force);
 
  /// \brief Get the update rate of the sensor.
  ///

include/ignition/sensors/ThermalCameraSensor.hh

@@ -79,7 +79,8 @@ namespace ignition
  /// \brief Force the sensor to generate data
  /// \param[in] _now The current time
  /// \return true if the update was successfull
- public: virtual bool Update(const common::Time &_now) override;
+ public: virtual bool Update(
+ const std::chrono::steady_clock::duration &_now) override;
 
  /// \brief Force the sensor to generate data
  /// \param[in] _now The current time

src/AirPressureSensor.cc

@@ -133,7 +133,15 @@ bool AirPressureSensor::Load(sdf::ElementPtr _sdf)
 }
 
 //////////////////////////////////////////////////
-bool AirPressureSensor::Update(const ignition::common::Time &_now)
+bool AirPressureSensor::Update(
+ const ignition::common::Time &_now)
+{
+ return this->Update(math::secNsecToDuration(_now.sec, _now.nsec));
+}
+
+//////////////////////////////////////////////////
+bool AirPressureSensor::Update(
+ const std::chrono::steady_clock::duration &_now)
 {
  IGN_PROFILE("AirPressureSensor::Update");
  if (!this->dataPtr->initialized)
@@ -143,8 +151,7 @@ bool AirPressureSensor::Update(const ignition::common::Time &_now)
  }
 
  msgs::FluidPressure msg;
- msg.mutable_header()->mutable_stamp()->set_sec(_now.sec);
- msg.mutable_header()->mutable_stamp()->set_nsec(_now.nsec);
+ *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
  auto frame = msg.mutable_header()->add_data();
  frame->set_key("frame_id");
  frame->add_value(this->Name());

src/AltimeterSensor.cc

@@ -130,7 +130,14 @@ bool AltimeterSensor::Load(sdf::ElementPtr _sdf)
 }
 
 //////////////////////////////////////////////////
-bool AltimeterSensor::Update(const ignition::common::Time &_now)
+bool AltimeterSensor::Update(
+ const ignition::common::Time &_now)
+{
+ return this->Update(math::secNsecToDuration(_now.sec, _now.nsec));
+}
+
+//////////////////////////////////////////////////
+bool AltimeterSensor::Update(const std::chrono::steady_clock::duration &_now)
 {
  IGN_PROFILE("AltimeterSensor::Update");
  if (!this->dataPtr->initialized)
@@ -140,8 +147,7 @@ bool AltimeterSensor::Update(const ignition::common::Time &_now)
  }
 
  msgs::Altimeter msg;
- msg.mutable_header()->mutable_stamp()->set_sec(_now.sec);
- msg.mutable_header()->mutable_stamp()->set_nsec(_now.nsec);
+ *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
  auto frame = msg.mutable_header()->add_data();
  frame->set_key("frame_id");
  frame->add_value(this->Name());

src/CameraSensor.cc

@@ -306,7 +306,14 @@ void CameraSensor::SetScene(ignition::rendering::ScenePtr _scene)
 }
 
 //////////////////////////////////////////////////
-bool CameraSensor::Update(const ignition::common::Time &_now)
+bool CameraSensor::Update(
+ const ignition::common::Time &_now)
+{
+ return this->Update(math::secNsecToDuration(_now.sec, _now.nsec));
+}
+
+//////////////////////////////////////////////////
+bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
 {
  IGN_PROFILE("CameraSensor::Update");
  if (!this->dataPtr->initialized)
@@ -387,8 +394,7 @@ bool CameraSensor::Update(const ignition::common::Time &_now)
  msg.set_step(width * rendering::PixelUtil::BytesPerPixel(
  this->dataPtr->camera->ImageFormat()));
  msg.set_pixel_format_type(msgsPixelFormat);
- msg.mutable_header()->mutable_stamp()->set_sec(_now.sec);
- msg.mutable_header()->mutable_stamp()->set_nsec(_now.nsec);
+ *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
  auto frame = msg.mutable_header()->add_data();
  frame->set_key("frame_id");
  frame->add_value(this->Name());
@@ -524,11 +530,11 @@ bool CameraSensor::AdvertiseInfo(const std::string &_topic)
 }
 
 //////////////////////////////////////////////////
-void CameraSensor::PublishInfo(const ignition::common::Time &_now)
+void CameraSensor::PublishInfo(
+ const std::chrono::steady_clock::duration &_now)
 {
- this->dataPtr->infoMsg.mutable_header()->mutable_stamp()->set_sec(_now.sec);
- this->dataPtr->infoMsg.mutable_header()->mutable_stamp()->set_nsec(
- _now.nsec);
+ *this->dataPtr->infoMsg.mutable_header()->mutable_stamp() =
+ msgs::Convert(_now);
  this->dataPtr->infoPub.Publish(this->dataPtr->infoMsg);
 }
 

src/Camera_TEST.cc

@@ -144,7 +144,7 @@ TEST(Camera_TEST, CreateCamera)
 
  // however camera is not loaded because a rendering scene is missing so
  // updates will not be successful and image size will be 0
- EXPECT_FALSE(cam->Update(ignition::common::Time()));
+ EXPECT_FALSE(cam->Update(std::chrono::steady_clock::duration::zero()));
  EXPECT_EQ(0u, cam->ImageWidth());
  EXPECT_EQ(0u, cam->ImageHeight());
 

src/DepthCameraSensor.cc

@@ -498,7 +498,8 @@ void DepthCameraSensor::SetScene(ignition::rendering::ScenePtr _scene)
 }
 
 //////////////////////////////////////////////////
-bool DepthCameraSensor::Update(const ignition::common::Time &_now)
+bool DepthCameraSensor::Update(
+ const std::chrono::steady_clock::duration &_now)
 {
  IGN_PROFILE("DepthCameraSensor::Update");
  if (!this->dataPtr->initialized)
@@ -528,8 +529,7 @@ bool DepthCameraSensor::Update(const ignition::common::Time &_now)
  msg.set_step(width * rendering::PixelUtil::BytesPerPixel(
  rendering::PF_FLOAT32_R));
  msg.set_pixel_format_type(msgsFormat);
- msg.mutable_header()->mutable_stamp()->set_sec(_now.sec);
- msg.mutable_header()->mutable_stamp()->set_nsec(_now.nsec);
+ *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
  auto frame = msg.mutable_header()->add_data();
  frame->set_key("frame_id");
  frame->add_value(this->Name());
@@ -560,10 +560,8 @@ bool DepthCameraSensor::Update(const ignition::common::Time &_now)
  this->dataPtr->pointCloudBuffer)
  {
  // Set the time stamp
- this->dataPtr->pointMsg.mutable_header()->mutable_stamp()->set_sec(
- _now.sec);
- this->dataPtr->pointMsg.mutable_header()->mutable_stamp()->set_nsec(
- _now.nsec);
+ *this->dataPtr->pointMsg.mutable_header()->mutable_stamp() =
+ msgs::Convert(_now);
  this->dataPtr->pointMsg.set_is_dense(true);
 
  if (!this->dataPtr->xyzBuffer)