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Merge pull request #253 from tier4/feature/unscalable-clock-in-thread
Clock publisher works in dedeciated thread
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37 changes: 37 additions & 0 deletions
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Assets/AWSIM/Scripts/Clock/Scripts/DotNetSystemTimeSource.cs
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| using System; | ||
| using System.Threading; | ||
| using ROS2; | ||
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| namespace AWSIM | ||
| { | ||
| /// <summary> | ||
| /// A thread-safe timesource class that provides the dot net system utc time. | ||
| /// </summary> | ||
| public class DotNetSystemTimeSource : ITimeSource | ||
| { | ||
| private DateTime prevDateTime; | ||
| private double time; | ||
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| private readonly object lockObject = new object(); | ||
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| public DotNetSystemTimeSource() | ||
| { | ||
| prevDateTime = DateTime.UtcNow; | ||
| time = 0.0; | ||
| } | ||
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| public void GetTime(out int seconds, out uint nanoseconds) | ||
| { | ||
| lock (lockObject) | ||
| { | ||
| DateTime currDateTime = DateTime.UtcNow; | ||
| TimeSpan timeSpan = currDateTime - prevDateTime; | ||
| prevDateTime = currDateTime; | ||
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| time += timeSpan.TotalMilliseconds * 0.001f * TimeScaleProvider.TimeScale; | ||
| TimeUtils.TimeFromTotalSeconds(time, out seconds, out nanoseconds); | ||
| } | ||
| } | ||
| } | ||
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|
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| } |
11 changes: 11 additions & 0 deletions
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Assets/AWSIM/Scripts/Clock/Scripts/DotNetSystemTimeSource.cs.meta
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| using UnityEngine; | ||
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| namespace AWSIM | ||
| { | ||
| /// <summary> | ||
| /// A thread-safe static class to provide the value of the time scale of the simulation. | ||
| /// </summary> | ||
| public static class TimeScaleProvider | ||
| { | ||
| private static readonly object lockObject = new object(); | ||
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| private static float timeScale = 1.0f; | ||
| public static float TimeScale | ||
| { | ||
| get | ||
| { | ||
| lock (lockObject) | ||
| { | ||
| return timeScale; | ||
| } | ||
| } | ||
| } | ||
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| #region [Public Methods] | ||
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| /// <summary> | ||
| /// Synchronise the value of the timeScale variable with the Time.timeScale from the Unity thread. | ||
| /// </summary> | ||
| public static void DoUpdate() | ||
| { | ||
| lock(lockObject) | ||
| { | ||
| if (Mathf.Abs(Time.timeScale - timeScale) > 0.01f) | ||
| { | ||
| timeScale = Time.timeScale; | ||
| } | ||
| } | ||
| } | ||
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| #endregion | ||
| } | ||
| } | ||
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11 changes: 11 additions & 0 deletions
11
Assets/AWSIM/Scripts/Clock/Scripts/TimeScaleProvider.cs.meta
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