// 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
#include
#include
#include
#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(
new rcl_timer_t, [ = ](rcl_timer_t * timer) mutable
{
{
std::lock_guard<: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<: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
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);
}