Clock

This sensor returns the current time, measured by the robot (in s).

Configuration parameters for Clock

No configurable parameter.

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:

• socket as straight JSON serialization (morse.middleware.socket_datastream.SocketPublisher)
• yarp as YarpPublisher (morse.middleware.yarp_datastream.YarpPublisher)
• text as key = value format with timestamp and index value (morse.middleware.text_datastream.Publisher)
• moos as StringPublisher (morse.middleware.moos.abstract_moos.StringPublisher)
• ros as rosgraph_msgs/Clock (morse.middleware.ros.clock.ClockPublisher)

Services for Clock

• get_configurations() (blocking)

  Returns the configurations of a component (parsed from the properties).

  • Return value

    a dictionary of the current component’s configurations

• get_local_data() (blocking)

  Returns the current data stored in the sensor.

  • Return value

    a dictionary of the current sensor’s data

• get_properties() (blocking)

  Returns the properties of a component.

  • Return value

    a dictionary of the current component’s properties

• 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

Examples

The following examples show how to use this component in a Builder script:

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(<x>, <y>, <z>)
clock.rotate(<rx>, <ry>, <rz>)

robot.append(clock)

# define one or several communication interface, like 'socket'
clock.add_interface(<interface>)

env = Environment('empty')

Other sources of examples

• Source code
• Unit-test

(This page has been auto-generated from MORSE module morse.sensors.clock.)