Clock ===== This sensor returns the current time, measured by the robot (in s). .. cssclass:: properties morse-section Configuration parameters for Clock ---------------------------------- *No configurable parameter.* .. cssclass:: fields morse-section Data fields ----------- This sensor exports these datafields at each simulation step: - ``timestamp`` (float, initial value: ``0.0``) number of seconds in simulated time *Interface support:* - :tag:`ros` as `rosgraph_msgs/Clock `_ (:py:mod:`morse.middleware.ros.clock.ClockPublisher`) - :tag:`yarp` as yarp::Bottle (:py:mod:`morse.middleware.yarp_datastream.YarpPublisher`) - :tag:`socket` as straight JSON serialization (:py:mod:`morse.middleware.socket_datastream.SocketPublisher`) - :tag:`moos` as StringPublisher (:py:mod:`morse.middleware.moos.abstract_moos.StringPublisher`) - :tag:`text` as key = value format with timestamp and index value (:py:mod:`morse.middleware.text_datastream.Publisher`) .. cssclass:: services morse-section Services for Clock ------------------ - ``get_properties()`` (blocking) Returns the properties of a component. - Return value a dictionary of the current component's properties - ``get_local_data()`` (blocking) Returns the current data stored in the sensor. - Return value a dictionary of the current sensor's data - ``set_property(prop_name, prop_val)`` (blocking) Modify one property on a component - Parameters - ``prop_name``: the name of the property to modify (as shown the documentation) - ``prop_val``: the new value of the property. Note that there is no checking about the type of the value so be careful - Return value nothing - ``get_configurations()`` (blocking) Returns the configurations of a component (parsed from the properties). - Return value a dictionary of the current component's configurations .. cssclass:: examples morse-section Examples -------- The following examples show how to use this component in a *Builder* script: .. code-block:: python from morse.builder import * # adds a default robot (the MORSE mascott!) robot = Morsy() # creates a new instance of the sensor clock = Clock() # place your component at the correct location clock.translate(, , ) clock.rotate(, , ) robot.append(clock) # define one or several communication interface, like 'socket' clock.add_interface() env = Environment('empty') .. cssclass:: files morse-section Other sources of examples +++++++++++++++++++++++++ - `Source code <../../_modules/morse/sensors/clock.html>`_ - `Unit-test <../../_modules/base/clock_testing.html>`_ *(This page has been auto-generated from MORSE module morse.sensors.clock.)*