Merge branch 'timeserver' into 'master'

Timeserver

Adds support for synchronised virtual time (see https://i61wiki.itec.uka.de/redmine/issues/348)

Makes the KinematicUnitSimulation use virtual time if available

Depends on https://gitlab.com/ArmarX/ArmarXCore/merge_requests/12

See merge request !4

source/RobotAPI/components/units/KinematicUnitSimulation.cpp

@@ -30,6 +30,7 @@
 #include <VirtualRobot/VirtualRobotException.h>
 #include <VirtualRobot/RuntimeEnvironment.h>
 #include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/time/TimeUtil.h>
 
 #include <algorithm>
 
@@ -91,8 +92,8 @@ void KinematicUnitSimulation::onExitKinematicUnit()
 void KinematicUnitSimulation::simulationFunction()
 {
     // the time it took until this method was called again
-    double timeDeltaInSeconds = (IceUtil::Time::now() - lastExecutionTime).toMilliSecondsDouble() / 1000.0;
-    lastExecutionTime = IceUtil::Time::now();
+    double timeDeltaInSeconds = (TimeUtil::GetTime() - lastExecutionTime).toMilliSecondsDouble() / 1000.0;
+    lastExecutionTime = TimeUtil::GetTime();
     // name value maps for reporting
     NameValueMap actualJointAngles;
     NameValueMap actualJointVelocities;

source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp

@@ -23,6 +23,7 @@
 #include "ArmarXPlotter.h"
 #include "ArmarXPlotterDialog.h"
 
+#include <ArmarXCore/core/time/TimeUtil.h>
 #include <ArmarXCore/observers/ObserverObjectFactories.h>
 #include <ArmarXCore/observers/variant/DataFieldIdentifier.h>
 #include <ArmarXCore/observers/exceptions/local/InvalidChannelException.h>
@@ -293,7 +294,7 @@ namespace armarx
 
         //        int size = shownInterval*1000/updateInterval;
         GraphDataMap::iterator it = dataMap.begin();
-        IceUtil::Time curTime = IceUtil::Time::now();
+        IceUtil::Time curTime = TimeUtil::GetTime();
 
         for (; it != dataMap.end(); ++it)
         {
@@ -452,7 +453,7 @@ namespace armarx
         }
         else
         {
-            pollingTask = new PeriodicTask<ArmarXPlotter>(this, & ArmarXPlotter::pollingExec, pollingInterval, false, "DataPollingTask");
+            pollingTask = new PeriodicTask<ArmarXPlotter>(this, & ArmarXPlotter::pollingExec, pollingInterval, false, "DataPollingTask", false);
             pollingTask->start();
             timer->start();
         }
@@ -585,7 +586,7 @@ namespace armarx
             pollingTask->stop();
         }
 
-        pollingTask = new PeriodicTask<ArmarXPlotter>(this, & ArmarXPlotter::pollingExec, pollingInterval, false, "DataPollingTask");
+        pollingTask = new PeriodicTask<ArmarXPlotter>(this, & ArmarXPlotter::pollingExec, pollingInterval, false, "DataPollingTask", false);
         pollingTask->start();
     }
 
@@ -618,7 +619,7 @@ namespace armarx
         std::map<std::string, VariantPtr> newData;
 
         // first clear to old entries
-        auto now = IceUtil::Time::now();
+        auto now = TimeUtil::GetTime();
         GraphDataMap::iterator itmap = dataMaptoAppend.begin();
 
         for (; itmap != dataMaptoAppend.end(); ++itmap)
@@ -664,7 +665,7 @@ namespace armarx
         }
 
         // now get new data
-        IceUtil::Time time = IceUtil::Time::now();
+        IceUtil::Time time = TimeUtil::GetTime();
         map<string, DataFieldIdentifierBaseList >::iterator it = channelsSplittedByObserver.begin();
 
         try