forked from ros2/rclcpp
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathnode_timers.cpp
More file actions
53 lines (46 loc) · 1.73 KB
/
node_timers.cpp
File metadata and controls
53 lines (46 loc) · 1.73 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "rclcpp/node_interfaces/node_timers.hpp"
#include <string>
#include "tracetools/tracetools.h"
using rclcpp::node_interfaces::NodeTimers;
NodeTimers::NodeTimers(rclcpp::node_interfaces::NodeBaseInterface * node_base)
: node_base_(node_base)
{}
NodeTimers::~NodeTimers()
{}
void
NodeTimers::add_timer(
rclcpp::TimerBase::SharedPtr timer,
rclcpp::CallbackGroup::SharedPtr callback_group)
{
if (callback_group) {
if (!node_base_->callback_group_in_node(callback_group)) {
// TODO(jacquelinekay): use custom exception
throw std::runtime_error("Cannot create timer, group not in node.");
}
callback_group->add_timer(timer);
} else {
node_base_->get_default_callback_group()->add_timer(timer);
}
if (rcl_trigger_guard_condition(node_base_->get_notify_guard_condition()) != RCL_RET_OK) {
throw std::runtime_error(
std::string("Failed to notify wait set on timer creation: ") +
rmw_get_error_string().str);
}
TRACEPOINT(
rclcpp_timer_link_node,
static_cast<const void *>(timer->get_timer_handle().get()),
static_cast<const void *>(node_base_->get_rcl_node_handle()));
}