Merge pull request #60 from ethz-asl/feature/resetTranslationFunction

Added DeviceTimeTranslator::resetTranslation method.

cuckoo_time_translator/include/cuckoo_time_translator/DeviceTimeTranslator.h

@@ -116,6 +116,11 @@ class DeviceTimeTranslator {
    * @return the current one way translator. Stays valid until the next update. Can be null.
    */
   const OneWayTranslator * getCurrentOwt() const;
+
+  /**
+   * Reset the translation state while keeping the expected settings such as expected algorithm or switch time.
+   */
+  void resetTranslation();
  private:
   void configCallback(DeviceTimeTranslatorConfig &config, uint32_t level);
 
@@ -153,7 +158,7 @@ class DeviceTimeUnwrapperAndTranslator {
 
   ros::Time translate(UnwrappedStamp unwrappedStamp) const;
   bool isReadyToTranslate() const;
-  
+
   FilterAlgorithm getCurrentFilterAlgorithm() const {
     return translator.getCurrentFilterAlgorithm();
   }
@@ -176,6 +181,13 @@ class DeviceTimeUnwrapperAndTranslator {
   const OneWayTranslator* getCurrentOwt() const {
     return translator.getCurrentOwt();
   }
+
+  /**
+   * Reset the translation state while keeping the expected settings such as expected algorithm or switch time.
+   */
+  void resetTranslation() {
+    translator.resetTranslation();
+  }
  protected:
   Unwrapper timestampUnwrapper;
   DeviceTimeTranslator translator;

cuckoo_time_translator/package.xml

@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>cuckoo_time_translator</name>
-  <version>0.0.2</version>
+  <version>0.0.3</version>
   <description>This library intends to do most of the dirty work required within a device driver that emoploys one way device time translation.
   This includes:
   * handling the one way translator
   * sending special timing messages (DeviceTimestamp) for debugging and evaluation (e.g. with ctt_introspect in the cuckoo_time_translator_python package)
-  * provide dynamic confiugration for the one way translation algorithm
+  * provide dynamic configuration for the one way translation algorithm
    </description>
 
   <author email="[email protected]">Hannes Sommer</author>

cuckoo_time_translator/src/DeviceTimeTranslator.cpp

@@ -205,6 +205,9 @@ class DeviceTimeTranslator::Impl {
     return timeTranslator_.get();
   }
 
+  void resetTranslation() {
+    timeTranslator_.reset();
+  }
  private:
 
   template <typename Owt>
@@ -310,6 +313,10 @@ void DeviceTimeTranslator::setFilterAlgorithm(FilterAlgorithm filterAlgorithm) {
   pImpl_->setExpectedAlgo(filterAlgorithm);
 }
 
+void DeviceTimeTranslator::resetTranslation() {
+  pImpl_->resetTranslation();
+}
+
 ros::Time DeviceTimeTranslator::update(const TimestampUnwrapper & timestampUnwrapper, const ros::Time & receiveTime, const double offsetSecs) {
   if(!pImpl_) return receiveTime;