Struct Clock 

pub struct Clock { /* private fields */ }

A clock for querying time

Clocks provide access to different time sources. Each node typically has an associated clock, but you can also create standalone clocks.

Implementations

impl Clock

pub const fn new(clock_type: ClockType) -> Clock

Create a new clock of the specified type

pub const fn system() -> Clock

Create a system time clock

System time reflects the real-world wall clock time.

pub const fn steady() -> Clock

Create a steady (monotonic) time clock

Steady time is guaranteed to only increase and is not affected by system time changes.

pub const fn ros_time() -> Clock

Create a ROS time clock

ROS time can be overridden for simulation. When no override is active, it returns system time.

pub const fn clock_type(&self) -> ClockType

Get the clock type

pub fn now(&self) -> Time

Get the current time from this clock

Platform behavior

• With std: Uses std::time::SystemTime or std::time::Instant
• Without std: Uses internal counters that must be updated manually

pub fn set_ros_time_override(nanos: i64)

Set a ROS time override

When set, all RosTime clocks will return this time instead of system time. This is useful for simulation.

Arguments

• nanos - Nanoseconds since epoch

pub fn set_ros_time_override_time(time: Time)

Set a ROS time override from a Time value

pub fn clear_ros_time_override()

Clear the ROS time override

After clearing, RosTime clocks will return system time again.

pub fn is_ros_time_override_active() -> bool

Check if a ROS time override is active

pub fn get_ros_time_override() -> Option<Time>

Get the current ROS time override value (if active)

pub fn update_steady_time(delta_nanos: i64)

Update the steady time counter

For no_std environments, call this periodically from your main loop or RTIC task to advance the steady clock.

Arguments

• delta_nanos - Nanoseconds elapsed since last call

pub fn update_steady_time_ms(delta_ms: u64)

Update the steady time counter (milliseconds version)

Convenience method for RTIC tasks using millisecond intervals.

Arguments

• delta_ms - Milliseconds elapsed since last call

pub fn set_steady_time(nanos: i64)

Set the steady time counter to a specific value

Use this to initialize the clock or synchronize with an external time source.

pub fn get_steady_time_nanos() -> i64

Get the current steady time counter value

Trait Implementations

impl Clone for Clock

fn clone(&self) -> Clock

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Clock

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl Default for Clock

fn default() -> Clock

Returns the “default value” for a type.

impl Copy for Clock