Move TimeControllerClock into separate file

Signed-off-by: Emerson Knapp <[email protected]>

rosbag2_cpp/CMakeLists.txt

@@ -53,9 +53,9 @@ add_library(${PROJECT_NAME} SHARED
   src/rosbag2_cpp/cache/cache_consumer.cpp
   src/rosbag2_cpp/cache/message_cache_buffer.cpp
   src/rosbag2_cpp/cache/message_cache.cpp
+  src/rosbag2_cpp/clocks/time_controller_clock.cpp
   src/rosbag2_cpp/converter.cpp
   src/rosbag2_cpp/info.cpp
-  src/rosbag2_cpp/player_clock.cpp
   src/rosbag2_cpp/reader.cpp
   src/rosbag2_cpp/readers/sequential_reader.cpp
   src/rosbag2_cpp/rmw_implemented_serialization_format_converter.cpp
@@ -224,11 +224,11 @@ if(BUILD_TESTING)
     target_link_libraries(test_multifile_reader ${PROJECT_NAME})
   endif()
 
-  ament_add_gmock(test_player_clock
-    test/rosbag2_cpp/test_player_clock.cpp)
-  if(TARGET test_player_clock)
+  ament_add_gmock(test_time_controller_clock
+    test/rosbag2_cpp/test_time_controller_clock.cpp)
+  if(TARGET test_time_controller_clock)
     # ament_target_dependencies(test_player_clock rosbag2_cpp)
-    target_link_libraries(test_player_clock ${PROJECT_NAME})
+    target_link_libraries(test_time_controller_clock ${PROJECT_NAME})
   endif()
 endif()
 

rosbag2_cpp/include/rosbag2_cpp/clocks/player_clock.hpp

@@ -0,0 +1,74 @@
+// Copyright 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// 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 ROSBAG2_CPP__CLOCKS__PLAYER_CLOCK_HPP_
+#define ROSBAG2_CPP__CLOCKS__PLAYER_CLOCK_HPP_
+
+#include <chrono>
+#include <functional>
+#include <memory>
+
+#include "rcutils/time.h"
+#include "rosbag2_cpp/visibility_control.hpp"
+
+namespace rosbag2_cpp
+{
+
+/**
+ * Virtual interface used to drive the timing of bag playback.
+ * This clock should be used to query times and sleep between message playing,
+ * so that the complexity involved around time control and time sources
+ * is encapsulated in this one place.
+ */
+class PlayerClock
+{
+public:
+  // Type representing the current time as according to the playback
+  typedef rcutils_time_point_value_t ROSTimePoint;
+  /**
+   * Type representing an arbitrary steady time, used to measure real-time durations
+   * This type is never exposed by the PlayerClock - it is only used as input to the PlayerClock.
+   */
+  typedef std::chrono::time_point<std::chrono::steady_clock> SteadyTimePoint;
+  typedef std::function<SteadyTimePoint()> NowFunction;
+
+  ROSBAG2_CPP_PUBLIC
+  virtual ~PlayerClock() = default;
+
+  /**
+   * Calculate and return current ROSTimePoint based on starting time, playback rate, pause state.
+   */
+  ROSBAG2_CPP_PUBLIC
+  virtual ROSTimePoint now() const = 0;
+
+  /**
+   * Try to sleep (non-busy) the current thread until the provided time is reached - according to this Clock
+   *
+   * Return true if the time has been reached, false if it was not successfully reached after sleeping
+   * for the appropriate duration.
+   * The user should not take action based on this sleep until it returns true.
+   */
+  ROSBAG2_CPP_PUBLIC
+  virtual bool sleep_until(ROSTimePoint until) = 0;
+
+  /**
+   * Return the current playback rate.
+   */
+  ROSBAG2_CPP_PUBLIC
+  virtual double get_rate() const = 0;
+};
+
+}  // namespace rosbag2_cpp
+
+#endif  // ROSBAG2_CPP__CLOCKS__PLAYER_CLOCK_HPP_

rosbag2_cpp/include/rosbag2_cpp/player_clock.hpp → rosbag2_cpp/include/rosbag2_cpp/clocks/time_controller_clock.hpp

@@ -12,63 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef ROSBAG2_CPP__PLAYER_CLOCK_HPP_
-#define ROSBAG2_CPP__PLAYER_CLOCK_HPP_
+#ifndef ROSBAG2_CPP__CLOCKS__TIME_CONTROLLER_CLOCK_HPP_
+#define ROSBAG2_CPP__CLOCKS__TIME_CONTROLLER_CLOCK_HPP_
 
 #include <chrono>
-#include <functional>
 #include <memory>
 
-#include "rcutils/time.h"
-#include "rosbag2_cpp/visibility_control.hpp"
+#include "rosbag2_cpp/clocks/player_clock.hpp"
 
 namespace rosbag2_cpp
 {
 
-/**
- * Virtual interface used to drive the timing of bag playback.
- * This clock should be used to query times and sleep between message playing,
- * so that the complexity involved around time control and time sources
- * is encapsulated in this one place.
- */
-class PlayerClock
-{
-public:
-  // Type representing the current time as according to the playback
-  typedef rcutils_time_point_value_t ROSTimePoint;
-  /**
-   * Type representing an arbitrary steady time, used to measure real-time durations
-   * This type is never exposed by the PlayerClock - it is only used as input to the PlayerClock.
-   */
-  typedef std::chrono::time_point<std::chrono::steady_clock> SteadyTimePoint;
-  typedef std::function<SteadyTimePoint()> NowFunction;
-
-  ROSBAG2_CPP_PUBLIC
-  virtual ~PlayerClock() = default;
-
-  /**
-   * Calculate and return current ROSTimePoint based on starting time, playback rate, pause state.
-   */
-  ROSBAG2_CPP_PUBLIC
-  virtual ROSTimePoint now() const = 0;
-
-  /**
-   * Try to sleep (non-busy) the current thread until the provided time is reached - according to this Clock
-   *
-   * Return true if the time has been reached, false if it was not successfully reached after sleeping
-   * for the appropriate duration.
-   * The user should not take action based on this sleep until it returns true.
-   */
-  ROSBAG2_CPP_PUBLIC
-  virtual bool sleep_until(ROSTimePoint until) = 0;
-
-  /**
-   * Return the current playback rate.
-   */
-  ROSBAG2_CPP_PUBLIC
-  virtual double get_rate() const = 0;
-};
-
 /**
  * Version of the PlayerClock interface that has control over time.
  * It does not listen to any external ROS Time Source and can optionally publish /clock
@@ -123,6 +77,7 @@ class TimeControllerClock : public PlayerClock
   std::unique_ptr<TimeControllerClockImpl> impl_;
 };
 
+
 }  // namespace rosbag2_cpp
 
-#endif  // ROSBAG2_CPP__PLAYER_CLOCK_HPP_
+#endif  // ROSBAG2_CPP__CLOCKS__TIME_CONTROLLER_CLOCK_HPP_

rosbag2_cpp/src/rosbag2_cpp/player_clock.cpp → rosbag2_cpp/src/rosbag2_cpp/clocks/time_controller_clock.cpp

@@ -17,7 +17,7 @@
 #include <thread>
 
 #include "rcpputils/thread_safety_annotations.hpp"
-#include "rosbag2_cpp/player_clock.hpp"
+#include "rosbag2_cpp/clocks/time_controller_clock.hpp"
 #include "rosbag2_cpp/types.hpp"
 
 namespace rosbag2_cpp

rosbag2_cpp/test/rosbag2_cpp/test_player_clock.cpp → rosbag2_cpp/test/rosbag2_cpp/test_time_controller_clock.cpp

@@ -14,7 +14,7 @@
 
 #include <gmock/gmock.h>
 
-#include "rosbag2_cpp/player_clock.hpp"
+#include "rosbag2_cpp/clocks/time_controller_clock.hpp"
 
 using namespace testing;  // NOLINT
 using SteadyTimePoint = rosbag2_cpp::PlayerClock::SteadyTimePoint;

rosbag2_transport/src/rosbag2_transport/player.cpp

@@ -29,6 +29,7 @@
 
 #include "rcutils/time.h"
 
+#include "rosbag2_cpp/clocks/time_controller_clock.hpp"
 #include "rosbag2_cpp/reader.hpp"
 #include "rosbag2_cpp/typesupport_helpers.hpp"
 

rosbag2_transport/src/rosbag2_transport/player.hpp

@@ -26,7 +26,7 @@
 
 #include "rclcpp/qos.hpp"
 
-#include "rosbag2_cpp/player_clock.hpp"
+#include "rosbag2_cpp/clocks/player_clock.hpp"
 #include "rosbag2_storage/serialized_bag_message.hpp"
 #include "rosbag2_transport/play_options.hpp"