Robotics Systems Types

package rst.cbse;

option java_outer_classname = "TickType";

import "rst/timing/Timestamp.proto";

import "rst/timing/Duration.proto";

/**

 * Tick sent to a component in a component circuit (as used by a global

 * heartbeat). Including support for virtual (simulation) time often found in

 * robotics applications.

 *

 * @author Arne Nordmann <anordman@techfak.uni-bielefeld.de>

 */

message Tick {

    /**

     * Sequence number of the tick. This sequence number is unique "within" the

     * sending heartbeat.

     */

    required uint32 sequence_number = 1;

    /**

     * Real time timestamp

     */

    // @unit(microseconds)

    required timing.Timestamp timestamp = 2;

    /**

     * Virtual (simulation) timestamp

     */

    // @unit(microseconds)

    optional timing.Timestamp virtual_timestamp = 3;

    /**

     * (Real) Timestep since last tick

     */

    // @unit(microseconds)

    optional timing.Duration timestep = 4;

    /**

     * Virtual (simulation) timestep since last tick

     */

    // @unit(microseconds)

    optional timing.Duration virtual_timestep = 5;

}