Get current time from selected source.

Parameters

mode: integer, one of:

• 0: Controller execution time. Time counted since low level controller start. Guaranteed monotonic. Reset on robot restart.
• 1: Reserved.
• 2: System time in GMT time zone. Not guaranteed to be monotonic - can go backwards when system time is adjusted.

Return

Function retruns structure in format struct(sec, nanosec)

Example 1: Get seconds part of current time counted since low level controller start.

current_time_s = time().sec

Example 2: Get current system time in seconds including fraction of second.

t = time() global current_time_s = t.sec + t.nanosec / 1000000000

Example 3: Get current date derived from system clock. NOTE: time(2) function returns GMT time.

# Converts seconds since 1970.01.01 to date

# Based on http://howardhinnant.github.io/date_algorithms.html

# Returns:

# struct(year, month, day)

def seconds_to_date(z):

local d = struct(year = 0, month = 0, day = 0)

z = floor(z / 86400)

z = z + 719468

local era = floor(z/146097)

local doe = z - era * 146097

local yoe = floor((doe - floor(doe/1460) + floor(doe/36524) - floor(doe/146096)) / 365)

d.year = yoe + era * 400

local doy = doe - (365*yoe + floor(yoe/4) - floor(yoe/100))

local mp = floor((5*doy + 2)/153)

d.day = doy - floor((153*mp + 2)/5) + 1

if(mp < 10):

d.month = mp + 3

else:

d.month = mp - 9

end

if(d.month <= 2):

d.year = d.year + 1

end

return d

end

 

date_gmt = seconds_to_date(time(2).sec)

Example 4: Get current GMT time derived from system clock.

Converts seconds since 1970.01.01 to time of day

# Returns:

# struct(hour, minute, second)

def seconds_to_time(z):

local t = struct(hour = 0, minute = 0, second = 0)

local sod = z % 86400

t.hour = floor(sod / 3600)

t.minute = floor((sod - t.hour * 3600) / 60)

t.second = sod % 60

return t

end

time_gmt = seconds_to_time(time(2).sec)