Replaced common::Time for std::chrono

examples/save_image/main.cc

@@ -113,7 +113,7 @@ int main()
     cameraSensor->ConnectImageCallback(&OnImageFrame);
 
   // Force the camera to generate an image
-  mgr.RunOnce(ignition::common::Time::Zero, true);
+  mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
 
   return 0;
 }

include/ignition/sensors/AirPressureSensor.hh

@@ -67,7 +67,8 @@ namespace ignition
       /// \brief Update the sensor and generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull
-      public: virtual bool Update(const common::Time &_now) override;
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Set the reference altitude.
       /// \param[in] _ref Verical reference position in meters

include/ignition/sensors/AltimeterSensor.hh

@@ -67,7 +67,8 @@ namespace ignition
       /// \brief Update the sensor and generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull
-      public: virtual bool Update(const common::Time &_now) override;
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Set the vertical reference position of the altimeter
       /// \param[in] _ref Verical reference position in meters

include/ignition/sensors/CameraSensor.hh

@@ -76,7 +76,8 @@ namespace ignition
       /// \brief Force the sensor to generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull
-      public: virtual bool Update(const common::Time &_now) override;
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Set a callback to be called when image frame data is
       /// generated.
@@ -138,7 +139,8 @@ namespace ignition
 
       /// \brief Publish camera info message.
       /// \param[in] _now The current time
-      protected: void PublishInfo(const ignition::common::Time &_now);
+      protected: void PublishInfo(
+        const std::chrono::steady_clock::duration &_now);
 
       /// \brief Create a camera in a scene
       /// \return True on success.

include/ignition/sensors/DepthCameraSensor.hh

@@ -79,7 +79,8 @@ namespace ignition
       /// \brief Force the sensor to generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull
-      public: virtual bool Update(const common::Time &_now) override;
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Force the sensor to generate data
       /// \param[in] _now The current time

include/ignition/sensors/GpuLidarSensor.hh

@@ -58,7 +58,8 @@ namespace ignition
       /// \brief Force the sensor to generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull
-      public: virtual bool Update(const common::Time &_now) override;
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Initialize values in the sensor
       /// \return True on success

include/ignition/sensors/ImuSensor.hh

@@ -68,7 +68,8 @@ namespace ignition
       /// \brief Update the sensor and generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull
-      public: virtual bool Update(const common::Time &_now) override;
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Set the angular velocity of the imu
       /// \param[in] _angularVel Angular velocity of the imu in body frame

include/ignition/sensors/Lidar.hh

@@ -56,12 +56,14 @@ namespace ignition
       /// \brief Force the sensor to generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull
-      public: virtual bool Update(const common::Time &_now) override;
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Publish LaserScan message
       /// \param[in] _now The current time
       /// \return true if the update was successfull
-      public: virtual bool PublishLidarScan(const common::Time &_now);
+      public: virtual bool PublishLidarScan(
+        const std::chrono::steady_clock::duration &_now);
 
       /// \brief Load the sensor based on data from an sdf::Sensor object.
       /// \param[in] _sdf SDF Sensor parameters.

include/ignition/sensors/LogicalCameraSensor.hh

@@ -71,7 +71,8 @@ namespace ignition
       /// \brief Force the sensor to generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull
-      public: virtual bool Update(const common::Time &_now) override;
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Get the near distance. This is the distance from the
       /// frustum's vertex to the closest plane.

include/ignition/sensors/MagnetometerSensor.hh

@@ -68,7 +68,8 @@ namespace ignition
       /// \brief Update the sensor and generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull
-      public: virtual bool Update(const common::Time &_now) override;
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Set the world pose of the sensor
       /// \param[in] _pose Pose in world frame

include/ignition/sensors/Manager.hh

@@ -188,7 +188,7 @@ namespace ignition
       /// \param _time: The current simulated time
       /// \param _force: If true, all sensors are forced to update. Otherwise
       ///        a sensor will update based on it's Hz rate.
-      public: void RunOnce(const ignition::common::Time &_time,
+      public: void RunOnce(const std::chrono::steady_clock::duration &_time,
                   bool _force = false);
 
       /// \brief Adds colon delimited paths sensor plugins may be

include/ignition/sensors/RgbdCameraSensor.hh

@@ -69,7 +69,8 @@ namespace ignition
       /// \brief Force the sensor to generate data
       /// \param[in] _now The current time
       /// \return true if the update was successful
-      public: virtual bool Update(const common::Time &_now) override;
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Set the rendering scene.
       /// \param[in] _scene Pointer to the scene

include/ignition/sensors/Sensor.hh

@@ -81,10 +81,11 @@ namespace ignition
       /// \param[in] _now The current time
       /// \return true if the update was successfull
       /// \sa SetUpdateRate()
-      public: virtual bool Update(const common::Time &_now) = 0;
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) = 0;
 
       /// \brief Return the next time the sensor will generate data
-      public: common::Time NextUpdateTime() const;
+      public: std::chrono::steady_clock::duration NextUpdateTime() const;
 
       /// \brief Update the sensor.
       ///
@@ -95,11 +96,13 @@ namespace ignition
       /// \param[in] _force Force the update to happen even if it's not time
       /// \return True if the update was triggered (_force was true or _now
       /// >= next_update_time) and the sensor's
-      /// bool Sensor::Update(const common::Time &_now) function returned true.
+      /// bool Sensor::Update(std::chrono::steady_clock::time_point)
+      /// function returned true.
       /// False otherwise.
       /// \remarks If forced the NextUpdateTime() will be unchanged.
       /// \sa virtual bool Update(const common::Time &_name) = 0
-      public: bool Update(const common::Time &_now, const bool _force);
+      public: bool Update(
+        const std::chrono::steady_clock::duration &_now, const bool _force);
 
       /// \brief Get the update rate of the sensor.
       ///

include/ignition/sensors/ThermalCameraSensor.hh

@@ -79,7 +79,8 @@ namespace ignition
       /// \brief Force the sensor to generate data
       /// \param[in] _now The current time
       /// \return true if the update was successfull
-      public: virtual bool Update(const common::Time &_now) override;
+      public: virtual bool Update(
+        const std::chrono::steady_clock::duration &_now) override;
 
       /// \brief Force the sensor to generate data
       /// \param[in] _now The current time

src/AirPressureSensor.cc

@@ -133,7 +133,8 @@ bool AirPressureSensor::Load(sdf::ElementPtr _sdf)
 }
 
 //////////////////////////////////////////////////
-bool AirPressureSensor::Update(const ignition::common::Time &_now)
+bool AirPressureSensor::Update(
+  const std::chrono::steady_clock::duration &_now)
 {
   IGN_PROFILE("AirPressureSensor::Update");
   if (!this->dataPtr->initialized)
@@ -143,8 +144,7 @@ bool AirPressureSensor::Update(const ignition::common::Time &_now)
   }
 
   msgs::FluidPressure msg;
-  msg.mutable_header()->mutable_stamp()->set_sec(_now.sec);
-  msg.mutable_header()->mutable_stamp()->set_nsec(_now.nsec);
+  *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
   auto frame = msg.mutable_header()->add_data();
   frame->set_key("frame_id");
   frame->add_value(this->Name());

src/AltimeterSensor.cc

@@ -130,7 +130,7 @@ bool AltimeterSensor::Load(sdf::ElementPtr _sdf)
 }
 
 //////////////////////////////////////////////////
-bool AltimeterSensor::Update(const ignition::common::Time &_now)
+bool AltimeterSensor::Update(const std::chrono::steady_clock::duration &_now)
 {
   IGN_PROFILE("AltimeterSensor::Update");
   if (!this->dataPtr->initialized)
@@ -140,8 +140,7 @@ bool AltimeterSensor::Update(const ignition::common::Time &_now)
   }
 
   msgs::Altimeter msg;
-  msg.mutable_header()->mutable_stamp()->set_sec(_now.sec);
-  msg.mutable_header()->mutable_stamp()->set_nsec(_now.nsec);
+  *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
   auto frame = msg.mutable_header()->add_data();
   frame->set_key("frame_id");
   frame->add_value(this->Name());

src/CameraSensor.cc

@@ -306,7 +306,7 @@ void CameraSensor::SetScene(ignition::rendering::ScenePtr _scene)
 }
 
 //////////////////////////////////////////////////
-bool CameraSensor::Update(const ignition::common::Time &_now)
+bool CameraSensor::Update(const std::chrono::steady_clock::duration &_now)
 {
   IGN_PROFILE("CameraSensor::Update");
   if (!this->dataPtr->initialized)
@@ -387,8 +387,7 @@ bool CameraSensor::Update(const ignition::common::Time &_now)
     msg.set_step(width * rendering::PixelUtil::BytesPerPixel(
                  this->dataPtr->camera->ImageFormat()));
     msg.set_pixel_format_type(msgsPixelFormat);
-    msg.mutable_header()->mutable_stamp()->set_sec(_now.sec);
-    msg.mutable_header()->mutable_stamp()->set_nsec(_now.nsec);
+    *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
     auto frame = msg.mutable_header()->add_data();
     frame->set_key("frame_id");
     frame->add_value(this->Name());
@@ -524,11 +523,11 @@ bool CameraSensor::AdvertiseInfo(const std::string &_topic)
 }
 
 //////////////////////////////////////////////////
-void CameraSensor::PublishInfo(const ignition::common::Time &_now)
+void CameraSensor::PublishInfo(
+  const std::chrono::steady_clock::duration &_now)
 {
-  this->dataPtr->infoMsg.mutable_header()->mutable_stamp()->set_sec(_now.sec);
-  this->dataPtr->infoMsg.mutable_header()->mutable_stamp()->set_nsec(
-      _now.nsec);
+  *this->dataPtr->infoMsg.mutable_header()->mutable_stamp() =
+    msgs::Convert(_now);
   this->dataPtr->infoPub.Publish(this->dataPtr->infoMsg);
 }
 

src/Camera_TEST.cc

@@ -144,7 +144,7 @@ TEST(Camera_TEST, CreateCamera)
 
   // however camera is not loaded because a rendering scene is missing so
   // updates will not be successful and image size will be 0
-  EXPECT_FALSE(cam->Update(ignition::common::Time()));
+  EXPECT_FALSE(cam->Update(std::chrono::steady_clock::duration::zero()));
   EXPECT_EQ(0u, cam->ImageWidth());
   EXPECT_EQ(0u, cam->ImageHeight());
 

src/DepthCameraSensor.cc

@@ -498,7 +498,8 @@ void DepthCameraSensor::SetScene(ignition::rendering::ScenePtr _scene)
 }
 
 //////////////////////////////////////////////////
-bool DepthCameraSensor::Update(const ignition::common::Time &_now)
+bool DepthCameraSensor::Update(
+  const std::chrono::steady_clock::duration &_now)
 {
   IGN_PROFILE("DepthCameraSensor::Update");
   if (!this->dataPtr->initialized)
@@ -528,8 +529,7 @@ bool DepthCameraSensor::Update(const ignition::common::Time &_now)
   msg.set_step(width * rendering::PixelUtil::BytesPerPixel(
                rendering::PF_FLOAT32_R));
   msg.set_pixel_format_type(msgsFormat);
-  msg.mutable_header()->mutable_stamp()->set_sec(_now.sec);
-  msg.mutable_header()->mutable_stamp()->set_nsec(_now.nsec);
+  *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
   auto frame = msg.mutable_header()->add_data();
   frame->set_key("frame_id");
   frame->add_value(this->Name());
@@ -560,10 +560,8 @@ bool DepthCameraSensor::Update(const ignition::common::Time &_now)
       this->dataPtr->pointCloudBuffer)
   {
     // Set the time stamp
-    this->dataPtr->pointMsg.mutable_header()->mutable_stamp()->set_sec(
-        _now.sec);
-    this->dataPtr->pointMsg.mutable_header()->mutable_stamp()->set_nsec(
-        _now.nsec);
+    *this->dataPtr->pointMsg.mutable_header()->mutable_stamp() =
+      msgs::Convert(_now);
     this->dataPtr->pointMsg.set_is_dense(true);
 
     if (!this->dataPtr->xyzBuffer)

src/GpuLidarSensor.cc

@@ -204,7 +204,7 @@ bool GpuLidarSensor::CreateLidar()
 }
 
 //////////////////////////////////////////////////
-bool GpuLidarSensor::Update(const ignition::common::Time &_now)
+bool GpuLidarSensor::Update(const std::chrono::steady_clock::duration &_now)
 {
   IGN_PROFILE("GpuLidarSensor::Update");
   if (!this->initialized)
@@ -237,11 +237,8 @@ bool GpuLidarSensor::Update(const ignition::common::Time &_now)
   if (this->dataPtr->pointPub.HasConnections())
   {
     // Set the time stamp
-    this->dataPtr->pointMsg.mutable_header()->mutable_stamp()->set_sec(
-        _now.sec);
-    this->dataPtr->pointMsg.mutable_header()->mutable_stamp()->set_nsec(
-        _now.nsec);
-
+    *this->dataPtr->pointMsg.mutable_header()->mutable_stamp() =
+      msgs::Convert(_now);
     this->dataPtr->pointMsg.set_is_dense(true);
 
     this->dataPtr->FillPointCloudMsg();

src/ImuSensor.cc

@@ -61,7 +61,8 @@ class ignition::sensors::ImuSensorPrivate
   public: bool timeInitialized = false;
 
   /// \brief Previous update time step.
-  public: ignition::common::Time prevStep { ignition::common::Time::Zero };
+  public: std::chrono::steady_clock::duration prevStep
+    {std::chrono::steady_clock::duration::zero()};
 
   /// \brief Noise added to sensor data
   public: std::map<SensorNoiseType, NoisePtr> noises;
@@ -146,7 +147,7 @@ bool ImuSensor::Load(sdf::ElementPtr _sdf)
 }
 
 //////////////////////////////////////////////////
-bool ImuSensor::Update(const ignition::common::Time &_now)
+bool ImuSensor::Update(const std::chrono::steady_clock::duration &_now)
 {
   IGN_PROFILE("ImuSensor::Update");
   if (!this->dataPtr->initialized)
@@ -165,7 +166,9 @@ bool ImuSensor::Update(const ignition::common::Time &_now)
   double dt;
   if (this->dataPtr->timeInitialized)
   {
-    dt = (_now - this->dataPtr->prevStep).Double();
+    auto delay = std::chrono::duration_cast<std::chrono::duration<float>>(
+        _now - this->dataPtr->prevStep);
+    dt = delay.count();
   }
   else
   {
@@ -200,8 +203,7 @@ bool ImuSensor::Update(const ignition::common::Time &_now)
       this->dataPtr->worldPose.Rot();
 
   msgs::IMU msg;
-  msg.mutable_header()->mutable_stamp()->set_sec(_now.sec);
-  msg.mutable_header()->mutable_stamp()->set_nsec(_now.nsec);
+  *msg.mutable_header()->mutable_stamp() = msgs::Convert(_now);
   msg.set_entity_name(this->Name());
   auto frame = msg.mutable_header()->add_data();
   frame->set_key("frame_id");

src/ImuSensor_TEST.cc

@@ -256,8 +256,10 @@ TEST(ImuSensor_TEST, ComputeNoise)
   // Note no gravity.
   sensor_truth->SetGravity(math::Vector3d::Zero);
 
-  sensor->Update(common::Time(0, 10000000));
-  sensor_truth->Update(common::Time(0, 10000000));
+  sensor->Update(std::chrono::steady_clock::duration(
+    std::chrono::nanoseconds(10000000)));
+  sensor_truth->Update(std::chrono::steady_clock::duration(
+    std::chrono::nanoseconds(10000000)));
 
   // Since this IMU has no noise, measurements should equal the inputs.
   EXPECT_DOUBLE_EQ(sensor_truth->AngularVelocity().X(), 0.0);
@@ -275,8 +277,10 @@ TEST(ImuSensor_TEST, ComputeNoise)
   EXPECT_GT(sensor->AngularVelocity().SquaredLength(), 0.0);
   EXPECT_GT(sensor->LinearAcceleration().SquaredLength(), 0.0);
 
-  sensor->Update(common::Time(0, 20000000));
-  sensor_truth->Update(common::Time(0, 20000000));
+  sensor->Update(std::chrono::steady_clock::duration(
+    std::chrono::nanoseconds(20000000)));
+  sensor_truth->Update(std::chrono::steady_clock::duration(
+    std::chrono::nanoseconds(20000000)));
 
   // Since this IMU has no noise, measurements should equal the inputs.
   EXPECT_DOUBLE_EQ(sensor_truth->AngularVelocity().X(), 0.0);