Time.cpp

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/*
 * Copyright (C) 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006, 2011 Anne van Rossum <anne@almende.com>
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include <yarp/os/Time.h>
 
#include <yarp/os/Network.h>
#include <yarp/os/NetworkClock.h>
#include <yarp/os/SystemClock.h>
#include <yarp/os/Thread.h>
#include <yarp/os/impl/LogComponent.h>
#include <yarp/os/impl/PlatformTime.h>
#include <yarp/os/impl/TimeImpl.h>
 
#include <mutex>
 
#if defined(_WIN32)
// for WIN32 MM functions
#    include <mmsystem.h>
#endif
 
using namespace yarp::os;
 
namespace {
YARP_OS_LOG_COMPONENT(TIME, "yarp.os.Time")
} // namespace
 
namespace {
 
bool clock_owned = false;
bool network_clock_ok = false;
Clock* pclock = nullptr;
yarpClockType yarp_clock_type = YARP_CLOCK_UNINITIALIZED;
 
std::mutex& getTimeMutex()
{
    static std::mutex mutex;
    return mutex;
}
 
void printNoClock_ErrorMessage()
{
    yCError(TIME, "Warning an issue has been found, please update the code.");
    yCError(TIME, " Clock is not initialized.");
    yCError(TIME, " This means YARP framework has not been properly initialized.");
    yCError(TIME, " The clock can be initialized with one of the following methods:");
    yCError(TIME, " - Create yarp::os::Network object or call yarp::os::Network::init()");
    yCError(TIME, " - Call useSystemClock()");
    yCError(TIME, " otherwise use yarp::os::SystemClock::nowSystem() and yarp::os::SystemClock::delaySystem() instead of Time::now() and Time::delay()");
}
 
Clock* getClock()
{
    if (pclock == nullptr) {
        /*
         * Assuming this should never happen, if we do get here, what shall be done??
         *
         * 1: create system clock
         *   If we get here, probably there is some sort of race condition while changing the clock,
         *   so creating a system clock may not be what we want to do, and this may interfere with the
         *   clock really wanted by the user, i.e. this system clock may be destroyed again to
         *   instantiate the good one, leaving space for another possible race condition.
         *
         * 2: use the system clock only for this call
         *
         * 3: exit now and ask user to correctly initialize the framework
         *   This is better because it shows initialization problems right from the start and help user
         *   to fix the code, which may otherwise lead to undefined behaviour.
         *
         * So now initialize a system clock and exit.
         */
        printNoClock_ErrorMessage();
        std::exit(-1);
    }
    return pclock;
}
} // namespace
 
 
void yarp::os::impl::Time::removeClock()
{
    if (pclock != nullptr) {
        delete pclock;
        pclock = nullptr;
    }
    yarp_clock_type = YARP_CLOCK_UNINITIALIZED;
}
 
void yarp::os::impl::Time::startTurboBoost()
{
#if defined(_WIN32)
    // only does something on Microsoft Windows
    TIMECAPS tm;
    timeGetDevCaps(&tm, sizeof(TIMECAPS));
    timeBeginPeriod(tm.wPeriodMin);
#endif
}
 
void yarp::os::impl::Time::endTurboBoost()
{
#if defined(_WIN32)
    // only does something on Microsoft Windows
    TIMECAPS tm;
    timeGetDevCaps(&tm, sizeof(TIMECAPS));
    timeEndPeriod(tm.wPeriodMin);
#endif
}
 
void Time::delay(double seconds)
{
    if (isSystemClock()) {
        return SystemClock::delaySystem(seconds);
    }
 
    Clock* clk = getClock();
    clk->delay(seconds);
}
 
double Time::now()
{
    if (isSystemClock()) {
        return SystemClock::nowSystem();
    }
 
    Clock* clk = getClock();
    return clk->now();
}
 
#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
void Time::turboBoost()
{
    return yarp::os::impl::Time::startTurboBoost();
}
#endif // YARP_NO_DEPRECATED
 
void Time::yield()
{
    return yarp::os::Thread::yield();
}
 
 
void Time::useSystemClock()
{
    if (!isSystemClock()) {
        getTimeMutex().lock();
 
        Clock* old_pclock = pclock;
        bool old_clock_owned = clock_owned;
 
        pclock = new SystemClock();
        yCAssert(TIME, pclock);
        yarp_clock_type = YARP_CLOCK_SYSTEM;
        clock_owned = true;
 
        if (old_clock_owned && (old_pclock != nullptr)) {
            delete old_pclock;
        }
 
        getTimeMutex().unlock();
    }
}
 
/* Creation of network clock may fail for different causes:
 * - cannot open port
 * - cannot connect to nameserver
 *
 * They may be handled in different ways, for example for the firsts two cases, it simply fails and
 * continue with system clock. Failure should be reported to the user and 'pclock' pointer will be temporary
 * set to NULL (which is an INVALID value).
 * isSystemClock() will still return true because it is the clock currently active.
 *
 * In case the source clock is not yet publishing time data, we wait here for the first valid clock, this way
 * the application will not start until the clock is correctly configured.
 * In this situation
 * - isSystemClock()    will be false
 * - isNetworkClock()   will be true
 * - isValid()          will be false until the first clock message is received, then it'll be true
 *
 * As soon as the clock starts being published, the networkClock has to acknowledge it and 'attach' to it. Clock will
 * then be valid.
 */
void Time::useNetworkClock(const std::string& clock, const std::string& localPortName)
{
    // re-create the clock also in case we already use a network clock, because
    // the input clock port may be different or the clock producer may be changed (different
    // clock source publishing on the same port/topic), so we may need to reconnect.
    getTimeMutex().lock();
 
    Clock* old_pclock = pclock; // store current clock pointer to delete it afterward
    bool old_clock_owned = clock_owned;
    auto* _networkClock = new NetworkClock();
    if (_networkClock == nullptr) {
        yCFatal(TIME, "failed creating NetworkClock client");
        return;
    }
    if (_networkClock->open(clock, localPortName)) {
        network_clock_ok = true; // see if it is really needed
        // updating clock pointer with the new one already initialized.
 
        pclock = _networkClock;
        clock_owned = true;
        yarp_clock_type = YARP_CLOCK_NETWORK;
    } else {
        yCFatal(TIME, "failed creating NetworkClock client, cannot open input port");
        return;
    }
 
    if (old_clock_owned && (old_pclock != nullptr)) {
        delete old_pclock;
    }
 
    getTimeMutex().unlock();
 
    int i = -1;
    while ((pclock != nullptr) && !pclock->isValid()) {
        i++;
        if ((i % 50) == 0) {
            yCInfo(TIME, "Waiting for clock server to start broadcasting data ...");
            i = 0;
        }
        SystemClock::delaySystem(0.1);
    }
}
 
void Time::useCustomClock(Clock* clock)
{
    if (clock == nullptr) {
        yCFatal(TIME, "failed configuring CustomClock client");
        return;
    }
 
    if (!clock->isValid()) {
        yCFatal(TIME, "Error: CustomClock is not valid");
        return;
    }
 
    getTimeMutex().lock();
 
    // store current clock pointer to delete it afterward
    Clock* old_pclock = pclock;
    bool old_clock_owned = clock_owned;
 
    pclock = clock;
    yarp_clock_type = YARP_CLOCK_CUSTOM;
    clock_owned = false;
 
    // delete old clock
    if (old_clock_owned && (old_pclock != nullptr)) {
        delete old_pclock;
    }
 
    getTimeMutex().unlock();
}
 
bool Time::isClockInitialized()
{
    return (yarp_clock_type != YARP_CLOCK_UNINITIALIZED);
}
 
bool Time::isSystemClock()
{
    return (yarp_clock_type == YARP_CLOCK_SYSTEM);
}
 
bool Time::isNetworkClock()
{
    return (yarp_clock_type == YARP_CLOCK_NETWORK);
}
 
bool Time::isCustomClock()
{
    return (yarp_clock_type == YARP_CLOCK_CUSTOM);
}
 
yarpClockType Time::getClockType()
{
    return yarp_clock_type;
}
 
std::string Time::clockTypeToString(yarpClockType type)
{
    std::string clockTypeString;
    if (type == -1) {
        type = yarp_clock_type;
    }
 
    switch (type) {
    case YARP_CLOCK_SYSTEM:
        clockTypeString = "System clock";
        break;
 
    case YARP_CLOCK_NETWORK:
        clockTypeString = "Network clock";
        break;
 
    case YARP_CLOCK_CUSTOM:
        clockTypeString = "Custom clock";
        break;
 
    case YARP_CLOCK_UNINITIALIZED:
        clockTypeString = "Clock has not been initialized yet: This should never happen. Is the object yarp::os::Network been initialized?";
        break;
 
    default:
        clockTypeString = "Unknown clock: This should never happen. Is the object yarp::os::Network been initialized?";
        break;
    }
    return clockTypeString;
}
 
 
bool Time::isValid()
{
    // The clock must never be NULL here
    return getClock()->isValid();
}