forked from ros2/rclcpp
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathtimer.hpp
More file actions
221 lines (187 loc) · 5.39 KB
/
timer.hpp
File metadata and controls
221 lines (187 loc) · 5.39 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
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
// Copyright 2014 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.
#ifndef RCLCPP__TIMER_HPP_
#define RCLCPP__TIMER_HPP_
#include <chrono>
#include <functional>
#include <memory>
#include <sstream>
#include <thread>
#include <type_traits>
#include <utility>
#include "rclcpp/clock.hpp"
#include "rclcpp/context.hpp"
#include "rclcpp/function_traits.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/rate.hpp"
#include "rclcpp/utilities.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rcl/error_handling.h"
#include "rcl/timer.h"
#include "rmw/error_handling.h"
#include "rmw/rmw.h"
namespace rclcpp
{
class TimerBase
{
public:
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(TimerBase)
RCLCPP_PUBLIC
explicit TimerBase(
Clock::SharedPtr clock,
std::chrono::nanoseconds period,
rclcpp::Context::SharedPtr context);
RCLCPP_PUBLIC
~TimerBase();
RCLCPP_PUBLIC
void
cancel();
/// Return the timer cancellation state.
/**
* \return true if the timer has been cancelled, false otherwise
* \throws std::runtime_error if the rcl_get_error_state returns 0
* \throws RCLErrorBase some child class exception based on ret
*/
RCLCPP_PUBLIC
bool
is_canceled();
RCLCPP_PUBLIC
void
reset();
RCLCPP_PUBLIC
virtual void
execute_callback() = 0;
RCLCPP_PUBLIC
std::shared_ptr<const rcl_timer_t>
get_timer_handle();
/// Check how long the timer has until its next scheduled callback.
/** \return A std::chrono::duration representing the relative time until the next callback. */
RCLCPP_PUBLIC
std::chrono::nanoseconds
time_until_trigger();
/// Is the clock steady (i.e. is the time between ticks constant?)
/** \return True if the clock used by this timer is steady. */
virtual bool is_steady() = 0;
/// Check if the timer is ready to trigger the callback.
/**
* This function expects its caller to immediately trigger the callback after this function,
* since it maintains the last time the callback was triggered.
* \return True if the timer needs to trigger.
*/
RCLCPP_PUBLIC
bool is_ready();
protected:
Clock::SharedPtr clock_;
std::shared_ptr<rcl_timer_t> timer_handle_;
};
using VoidCallbackType = std::function<void ()>;
using TimerCallbackType = std::function<void (TimerBase &)>;
/// Generic timer. Periodically executes a user-specified callback.
template<
typename FunctorT,
typename std::enable_if<
rclcpp::function_traits::same_arguments<FunctorT, VoidCallbackType>::value ||
rclcpp::function_traits::same_arguments<FunctorT, TimerCallbackType>::value
>::type * = nullptr
>
class GenericTimer : public TimerBase
{
public:
RCLCPP_SMART_PTR_DEFINITIONS(GenericTimer)
/// Default constructor.
/**
* \param[in] clock The clock providing the current time.
* \param[in] period The interval at which the timer fires.
* \param[in] callback User-specified callback function.
*/
explicit GenericTimer(
Clock::SharedPtr clock, std::chrono::nanoseconds period, FunctorT && callback,
rclcpp::Context::SharedPtr context
)
: TimerBase(clock, period, context), callback_(std::forward<FunctorT>(callback))
{
}
/// Default destructor.
virtual ~GenericTimer()
{
// Stop the timer from running.
cancel();
}
void
execute_callback() override
{
rcl_ret_t ret = rcl_timer_call(timer_handle_.get());
if (ret == RCL_RET_TIMER_CANCELED) {
return;
}
if (ret != RCL_RET_OK) {
throw std::runtime_error("Failed to notify timer that callback occurred");
}
execute_callback_delegate<>();
}
// void specialization
template<
typename CallbackT = FunctorT,
typename std::enable_if<
rclcpp::function_traits::same_arguments<CallbackT, VoidCallbackType>::value
>::type * = nullptr
>
void
execute_callback_delegate()
{
callback_();
}
template<
typename CallbackT = FunctorT,
typename std::enable_if<
rclcpp::function_traits::same_arguments<CallbackT, TimerCallbackType>::value
>::type * = nullptr
>
void
execute_callback_delegate()
{
callback_(*this);
}
bool
is_steady() override
{
return clock_->get_clock_type() == RCL_STEADY_TIME;
}
protected:
RCLCPP_DISABLE_COPY(GenericTimer)
FunctorT callback_;
};
template<
typename FunctorT,
typename std::enable_if<
rclcpp::function_traits::same_arguments<FunctorT, VoidCallbackType>::value ||
rclcpp::function_traits::same_arguments<FunctorT, TimerCallbackType>::value
>::type * = nullptr
>
class WallTimer : public GenericTimer<FunctorT>
{
public:
RCLCPP_SMART_PTR_DEFINITIONS(WallTimer)
WallTimer(
std::chrono::nanoseconds period,
FunctorT && callback,
rclcpp::Context::SharedPtr context)
: GenericTimer<FunctorT>(
std::make_shared<Clock>(RCL_STEADY_TIME), period, std::move(callback), context)
{}
protected:
RCLCPP_DISABLE_COPY(WallTimer)
};
} // namespace rclcpp
#endif // RCLCPP__TIMER_HPP_