External clock source

[mkolodziejczyk-piap]

Hi, I'm new to MOOS. I want to use time from external source (ROS). Is it enough to modify MOOSLocalTime(). Regards,

core-moos/Core/libMOOS/Utils/MOOSUtilityFunctions.cpp

Lines 232 to 308 in 2494242

	double MOOSLocalTime(bool bApplyTimeWarping)
	{
	#ifndef _WIN32
	double dfT=0.0;
	struct timeval TimeVal;
	if(gettimeofday(&TimeVal,NULL)==0)
	{
	dfT = TimeVal.tv_sec+TimeVal.tv_usec/1000000.0;
	}
	else
	{
	//lost the will to live.....
	MOOSAssert(0);
	dfT =-1;
	}
	if(bApplyTimeWarping)
	return dfT*gdfMOOSTimeWarp;
	else
	return dfT;
	#else
	if( gbWin32HPTiming )
	{
	static LARGE_INTEGER liStart;
	static LARGE_INTEGER liPerformanceFreq;
	static double dfMOOSStart;
	static bool bHPTimeInitialised=false;
	//to do - we should consider thread saftery here..
	if(!bHPTimeInitialised)
	{
	//initialise with crude time
	struct _timeb timebuffer;
	_ftime( &timebuffer );
	dfMOOSStart = timebuffer.time+ ((double)timebuffer.millitm)/1000;
	QueryPerformanceCounter(&liStart);
	QueryPerformanceFrequency(&liPerformanceFreq);
	bHPTimeInitialised=true;
	return bApplyTimeWarping ? dfMOOSStart*gdfMOOSTimeWarp :dfMOOSStart;
	}
	else
	{
	//use fancy time
	LARGE_INTEGER liNow;
	QueryPerformanceCounter(&liNow);
	double T = dfMOOSStart+(double)(liNow.QuadPart-liStart.QuadPart)/((double)(liPerformanceFreq.QuadPart));
	return bApplyTimeWarping ? T*gdfMOOSTimeWarp :T;
	}
	}
	else
	{
	//user has elected to use low precision win32 timing
	struct _timeb timebuffer;
	_ftime( &timebuffer );
	double T = timebuffer.time + ((double)timebuffer.millitm)/1000.0;
	return bApplyTimeWarping ? T*gdfMOOSTimeWarp : T;
	}
	#endif
	}