def _update_timestamp_filter(self, timestamp, timesync_endpoint):
"""Set or convert fields of the proto that need timestamps in the robot's clock."""
# Input timestamp is a google.protobuf.Timestamp
if not timesync_endpoint:
raise NoTimeSyncError("[choreography service] No timesync endpoint set for the robot.")
converter = _TimeConverter(self, timesync_endpoint)
return converter.robot_timestamp_from_local_secs(timestamp)
def _update_time_filter(self, timestamp, timesync_endpoint):
"""Set or convert fields of the proto that need timestamps in the robot's clock.
Args:
timestamp (float): Client time, such as from time.time().
timesync_endpoint (TimeSyncEndpoint): A timesync endpoint associated with the robot object.
Raises:
NoTimeSyncError: Could not find the timesync endpoint for the robot to convert the time.
"""
# Input timestamp is a float. (from time.time())
if not timesync_endpoint:
raise NoTimeSyncError("[world object service] No timesync endpoint set for the robot.")
# Lazy RobotTimeConverter: initialized only if needed to make a conversion.
converter = _TimeConverter(self, timesync_endpoint)
return converter.robot_timestamp_from_local_secs(timestamp)
def _update_timestamp_filter(self, timestamp, timesync_endpoint):
"""Set or convert fields of the proto that need timestamps in the robot's clock.
Args:
timestamp (google.protobuf.Timestamp): Client time.
timesync_endpoint (TimeSyncEndpoint): A timesync endpoint associated with the robot object.
Raises:
NoTimeSyncError: Could not find the timesync endpoint for the robot to convert the time.
"""
# Input timestamp is a google.protobuf.Timestamp
if not timesync_endpoint:
raise NoTimeSyncError("[world object service] No timesync endpoint set for the robot.")
converter = _TimeConverter(self, timesync_endpoint)
converter.convert_timestamp_from_local_to_robot(timestamp)
return timestamp
def _update_command_timestamps(self, command):
"""Set or convert fields of the command proto that need timestamps in the robot's clock.
Args:
command: Command message to update.
"""
if self._timesync_endpoint is None:
raise NoTimeSyncError
converter = _TimeConverter(self, self._timesync_endpoint)
def _to_robot_time(key, proto):
"""If proto has a field named key with a timestamp, convert timestamp to robot time."""
if not (key in proto.DESCRIPTOR.fields_by_name and proto.HasField(key)):
return # No such field in proto, or field does not contain a timestamp.
timestamp = getattr(proto, key)
converter.convert_timestamp_from_local_to_robot(timestamp)
# Convert timestamps from local time to robot time.
_edit_proto(command, EDIT_TREE_CONVERT_LOCAL_TIME_TO_ROBOT_TIME, _to_robot_time)