From 97fc1fc240d5c34a5f29b6ba214a316ccf855402 Mon Sep 17 00:00:00 2001 From: Arne Nordmann Date: Wed, 8 Oct 2014 17:29:57 +0200 Subject: [PATCH] Data-type for component circuit beat * Contains sequence number, timestamps and timesteps * Support for virtual (e.g. simulation) time, often used in robotics --- proto/sandbox/rst/cbse/Tick.proto | 47 +++++++++++++++++++++++++++++++++++++ 1 file changed, 47 insertions(+) create mode 100644 proto/sandbox/rst/cbse/Tick.proto diff --git a/proto/sandbox/rst/cbse/Tick.proto b/proto/sandbox/rst/cbse/Tick.proto new file mode 100644 index 0000000..d3a5bd4 --- /dev/null +++ b/proto/sandbox/rst/cbse/Tick.proto @@ -0,0 +1,47 @@ +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 + */ +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; + +} -- 1.7.9.5