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# Revision $Id: simtime.py 9658 2010-05-11 05:16:22Z kwc $

"""Internal-use: Support for simulated clock."""

import traceback

import roslib.msg
import roslib.rosenv

import rospy.core
import rospy.rostime
import rospy.topics

# ROS clock topics and parameter config
_ROSCLOCK = '/clock'
_USE_SIMTIME = '/use_sim_time'

# Subscriber handles for /clock and /time
_rostime_sub = None
_rosclock_sub = None

def _is_use_simtime():
    # in order to prevent circular dependencies, this does not use the
    # builtin libraries for interacting with the parameter server, at least
    # until I reorganize the client vs. internal APIs better.
    master_uri = roslib.rosenv.get_master_uri()
    m = rospy.core.xmlrpcapi(master_uri)
    code, msg, val = m.getParam(rospy.names.get_caller_id(), _USE_SIMTIME)
    if code == 1 and val:
        return True
    return False
    
from rospy.rostime import _set_rostime
def _set_rostime_clock_wrapper(time_msg):
    _set_rostime(time_msg.clock)
def _set_rostime_time_wrapper(time_msg):
    _set_rostime(time_msg.rostime)
    
def init_simtime():
    """
    Initialize the ROS time system by connecting to the /time topic
    IFF the /use_sim_time parameter is set.
    """    
    import logging
    logger = logging.getLogger("rospy.simtime")
    try:
        if not _is_use_simtime():
            logger.info("%s is not set, will not subscribe to simulated time [%s] topic"%(_USE_SIMTIME, _ROSCLOCK))
        else:
            global _rostime_sub, _clock_sub
            if _rostime_sub is None:
                logger.info("initializing %s core topic"%_ROSCLOCK)
                _clock_sub = rospy.topics.Subscriber(_ROSCLOCK, roslib.msg.Clock, _set_rostime_clock_wrapper)
                logger.info("connected to core topic %s"%_ROSCLOCK)

                _set_rostime(rospy.rostime.Time(0, 0))
        rospy.rostime.set_rostime_initialized(True)
        return True
    except Exception, e:
        logger.error("Unable to initialize %s: %s\n%s", _ROSCLOCK, e, traceback.format_exc())
        return False
