clock_publisher.hpp

// Copyright (c) 2024, Open Navigation LLC
// Copyright (c) 2026, Dexory (Tony Najjar)
//
// 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 NAV2_LOOPBACK_SIM__CLOCK_PUBLISHER_HPP_
#define NAV2_LOOPBACK_SIM__CLOCK_PUBLISHER_HPP_
 
#include <chrono>
#include <memory>
 
#include "nav2_ros_common/lifecycle_node.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/timer.hpp"
#include "rosgraph_msgs/msg/clock.hpp"
 
namespace nav2_loopback_sim
{
 
class ClockPublisher
{
public:
  ClockPublisher(
    nav2::LifecycleNode::WeakPtr node,
    double speed_factor = 1.0);
 
  void start();
  void stop();
  void setSpeedFactor(double speed_factor);
 
protected:
  void timerCallback();
  void resetTimer();
 
  nav2::LifecycleNode::WeakPtr node_;
  rclcpp::Logger logger_;
 
  rclcpp::Publisher<rosgraph_msgs::msg::Clock>::SharedPtr clock_pub_;  //  nosemgrep
  rclcpp::TimerBase::SharedPtr timer_;
 
  static constexpr double kResolution = 0.01;      // 10ms sim-time step
  static constexpr double kMinWallPeriod = 0.001;   // 1ms / 1000 Hz max
  double speed_factor_;
  rclcpp::Time sim_time_;
  std::chrono::steady_clock::time_point last_wall_time_;
};
 
}  // namespace nav2_loopback_sim
 
#endif  // NAV2_LOOPBACK_SIM__CLOCK_PUBLISHER_HPP_