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114 lines (99 loc) · 3.16 KB
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// 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 "rclcpp/contexts/default_context.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::default_context::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
{
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();
if (rcl_timer_init(
timer_handle_.get(), clock_handle, rcl_context.get(), period.count(), nullptr,
rcl_get_default_allocator()) != RCL_RET_OK)
{
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Couldn't initialize rcl timer handle: %s\n", rcl_get_error_string().str);
rcl_reset_error();
}
}
TimerBase::~TimerBase()
{}
void
TimerBase::cancel()
{
if (rcl_timer_cancel(timer_handle_.get()) != RCL_RET_OK) {
throw std::runtime_error(std::string("Couldn't cancel timer: ") + rcl_get_error_string().str);
}
}
void
TimerBase::reset()
{
if (rcl_timer_reset(timer_handle_.get()) != RCL_RET_OK) {
throw std::runtime_error(std::string("Couldn't reset timer: ") + rcl_get_error_string().str);
}
}
bool
TimerBase::is_ready()
{
bool ready = false;
if (rcl_timer_is_ready(timer_handle_.get(), &ready) != RCL_RET_OK) {
throw std::runtime_error(std::string("Failed to check timer: ") + rcl_get_error_string().str);
}
return ready;
}
std::chrono::nanoseconds
TimerBase::time_until_trigger()
{
int64_t time_until_next_call = 0;
if (rcl_timer_get_time_until_next_call(timer_handle_.get(),
&time_until_next_call) != RCL_RET_OK)
{
throw std::runtime_error(
std::string("Timer could not get time until next call: ") +
rcl_get_error_string().str);
}
return std::chrono::nanoseconds(time_until_next_call);
}
std::shared_ptr<const rcl_timer_t>
TimerBase::get_timer_handle()
{
return timer_handle_;
}