forked from ros2/rclcpp
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathtimer.cpp
More file actions
138 lines (120 loc) · 3.72 KB
/
timer.cpp
File metadata and controls
138 lines (120 loc) · 3.72 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
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
// Copyright 2015 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/timer.hpp"
#include <chrono>
#include <string>
#include <memory>
#include <thread>
#include "rclcpp/contexts/default_context.hpp"
#include "rclcpp/exceptions.hpp"
#include "rcutils/logging_macros.h"
using rclcpp::TimerBase;
TimerBase::TimerBase(
rclcpp::Clock::SharedPtr clock,
std::chrono::nanoseconds period,
rclcpp::Context::SharedPtr context)
: clock_(clock), timer_handle_(nullptr)
{
if (nullptr == context) {
context = rclcpp::contexts::get_global_default_context();
}
auto rcl_context = context->get_rcl_context();
timer_handle_ = std::shared_ptr<rcl_timer_t>(
new rcl_timer_t, [ = ](rcl_timer_t * timer) mutable
{
{
std::lock_guard<std::mutex> clock_guard(clock->get_clock_mutex());
if (rcl_timer_fini(timer) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Failed to clean up rcl timer handle: %s", rcl_get_error_string().str);
rcl_reset_error();
}
}
delete timer;
// Captured shared pointers by copy, reset to make sure timer is finalized before clock
clock.reset();
rcl_context.reset();
});
*timer_handle_.get() = rcl_get_zero_initialized_timer();
rcl_clock_t * clock_handle = clock_->get_clock_handle();
{
std::lock_guard<std::mutex> clock_guard(clock_->get_clock_mutex());
rcl_ret_t ret = rcl_timer_init(
timer_handle_.get(), clock_handle, rcl_context.get(), period.count(), nullptr,
rcl_get_default_allocator());
if (ret != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't initialize rcl timer handle");
}
}
}
TimerBase::~TimerBase()
{}
void
TimerBase::cancel()
{
rcl_ret_t ret = rcl_timer_cancel(timer_handle_.get());
if (ret != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't cancel timer");
}
}
bool
TimerBase::is_canceled()
{
bool is_canceled = false;
rcl_ret_t ret = rcl_timer_is_canceled(timer_handle_.get(), &is_canceled);
if (ret != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't get timer cancelled state");
}
return is_canceled;
}
void
TimerBase::reset()
{
rcl_ret_t ret = rcl_timer_reset(timer_handle_.get());
if (ret != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't reset timer");
}
}
bool
TimerBase::is_ready()
{
bool ready = false;
rcl_ret_t ret = rcl_timer_is_ready(timer_handle_.get(), &ready);
if (ret != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to check timer");
}
return ready;
}
std::chrono::nanoseconds
TimerBase::time_until_trigger()
{
int64_t time_until_next_call = 0;
rcl_ret_t ret = rcl_timer_get_time_until_next_call(
timer_handle_.get(), &time_until_next_call);
if (ret != RCL_RET_OK) {
rclcpp::exceptions::throw_from_rcl_error(ret, "Timer could not get time until next call");
}
return std::chrono::nanoseconds(time_until_next_call);
}
std::shared_ptr<const rcl_timer_t>
TimerBase::get_timer_handle()
{
return timer_handle_;
}
bool
TimerBase::exchange_in_use_by_wait_set_state(bool in_use_state)
{
return in_use_by_wait_set_.exchange(in_use_state);
}