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create_timer.hpp
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115 lines (104 loc) · 3.43 KB
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// Copyright 2019 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__CREATE_TIMER_HPP_
#define RCLCPP__CREATE_TIMER_HPP_
#include <chrono>
#include <exception>
#include <memory>
#include <string>
#include <utility>
#include "rclcpp/duration.hpp"
#include "rclcpp/node_interfaces/get_node_base_interface.hpp"
#include "rclcpp/node_interfaces/get_node_timers_interface.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_timers_interface.hpp"
namespace rclcpp
{
/// Create a timer with a given clock
/// \internal
template<typename CallbackT>
typename rclcpp::TimerBase::SharedPtr
create_timer(
std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
std::shared_ptr<node_interfaces::NodeTimersInterface> node_timers,
rclcpp::Clock::SharedPtr clock,
rclcpp::Duration period,
CallbackT && callback,
rclcpp::CallbackGroup::SharedPtr group = nullptr)
{
auto timer = rclcpp::GenericTimer<CallbackT>::make_shared(
clock,
period.to_chrono<std::chrono::nanoseconds>(),
std::forward<CallbackT>(callback),
node_base->get_context());
node_timers->add_timer(timer, group);
return timer;
}
/// Create a timer with a given clock
template<typename NodeT, typename CallbackT>
typename rclcpp::TimerBase::SharedPtr
create_timer(
NodeT node,
rclcpp::Clock::SharedPtr clock,
rclcpp::Duration period,
CallbackT && callback,
rclcpp::CallbackGroup::SharedPtr group = nullptr)
{
return create_timer(
rclcpp::node_interfaces::get_node_base_interface(node),
rclcpp::node_interfaces::get_node_timers_interface(node),
clock,
period,
std::forward<CallbackT>(callback),
group);
}
/// Convenience method to create a timer with node resources.
/**
*
* \tparam DurationRepT
* \tparam DurationT
* \tparam CallbackT
* \param period period to exectute callback
* \param callback callback to execute via the timer period
* \param group
* \param node_base
* \param node_timers
* \return
* \throws std::invalid argument if either node_base or node_timers
* are null
*/
template<typename DurationRepT, typename DurationT, typename CallbackT>
typename rclcpp::WallTimer<CallbackT>::SharedPtr
create_wall_timer(
std::chrono::duration<DurationRepT, DurationT> period,
CallbackT callback,
rclcpp::CallbackGroup::SharedPtr group,
node_interfaces::NodeBaseInterface * node_base,
node_interfaces::NodeTimersInterface * node_timers)
{
if (node_base == nullptr) {
throw std::invalid_argument{"input node_base cannot be null"};
}
if (node_timers == nullptr) {
throw std::invalid_argument{"input node_timers cannot be null"};
}
auto timer = rclcpp::WallTimer<CallbackT>::make_shared(
std::chrono::duration_cast<std::chrono::nanoseconds>(period),
std::move(callback),
node_base->get_context());
node_timers->add_timer(timer, group);
return timer;
}
} // namespace rclcpp
#endif // RCLCPP__CREATE_TIMER_HPP_