rclcpp::TimerBase Class Reference

#include <timer.hpp>

Inheritance diagram for rclcpp::TimerBase:

Collaboration diagram for rclcpp::TimerBase:

Public Member Functions
	TimerBase (Clock::SharedPtr clock, std::chrono::nanoseconds period, rclcpp::Context::SharedPtr context)
	TimerBase constructor. More...
virtual	~TimerBase ()
	TimerBase destructor. More...
void	cancel ()
	Cancel the timer. More...
bool	is_canceled ()
	Return the timer cancellation state. More...
void	reset ()
	Reset the timer. More...
virtual void	execute_callback ()=0
	Call the callback function when the timer signal is emitted. More...
std::shared_ptr< const rcl_timer_t >	get_timer_handle ()
std::chrono::nanoseconds	time_until_trigger ()
	Check how long the timer has until its next scheduled callback. More...
virtual bool	is_steady ()=0
	Is the clock steady (i.e. is the time between ticks constant?) More...
bool	is_ready ()
	Check if the timer is ready to trigger the callback. More...
bool	exchange_in_use_by_wait_set_state (bool in_use_state)
	Exchange the "in use by wait set" state for this timer. More...

Protected Attributes
Clock::SharedPtr	clock_
std::shared_ptr< rcl_timer_t >	timer_handle_
std::atomic< bool >	in_use_by_wait_set_ {false}

Constructor & Destructor Documentation

TimerBase()

rclcpp::TimerBase::TimerBase ( Clock::SharedPtr  clock, std::chrono::nanoseconds  period, rclcpp::Context::SharedPtr  context  )

explicit

TimerBase constructor.

Parameters

clock	A clock to use for time and sleeping
period	The interval at which the timer fires
context	node context

~TimerBase()

virtual rclcpp::TimerBase::~TimerBase ( )

virtual

TimerBase destructor.

Member Function Documentation

cancel()

void rclcpp::TimerBase::cancel

(

)

Cancel the timer.

Exceptions

std::runtime_error

if the rcl_timer_cancel returns a failure

is_canceled()

bool rclcpp::TimerBase::is_canceled

(

)

Return the timer cancellation state.

Returns

true if the timer has been cancelled, false otherwise

Exceptions

std::runtime_error	if the rcl_get_error_state returns 0
rclcpp::exceptions::RCLError	some child class exception based on ret

reset()

void rclcpp::TimerBase::reset

(

)

Reset the timer.

Exceptions

std::runtime_error

if the rcl_timer_reset returns a failure

execute_callback()

virtual void rclcpp::TimerBase::execute_callback ( )

pure virtual

Call the callback function when the timer signal is emitted.

Implemented in rclcpp::GenericTimer< FunctorT, >, and rclcpp::GenericTimer< FunctorT >.

get_timer_handle()

std::shared_ptr<const rcl_timer_t> rclcpp::TimerBase::get_timer_handle

(

)

time_until_trigger()

std::chrono::nanoseconds rclcpp::TimerBase::time_until_trigger

(

)

Check how long the timer has until its next scheduled callback.

Returns

A std::chrono::duration representing the relative time until the next callback.

Exceptions

std::runtime_error

if the rcl_timer_get_time_until_next_call returns a failure

is_steady()

virtual bool rclcpp::TimerBase::is_steady ( )

pure virtual

Is the clock steady (i.e. is the time between ticks constant?)

Returns

True if the clock used by this timer is steady.

Implemented in rclcpp::GenericTimer< FunctorT, >, and rclcpp::GenericTimer< FunctorT >.

is_ready()

bool rclcpp::TimerBase::is_ready

(

)

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.

Returns

True if the timer needs to trigger.

Exceptions

std::runtime_error

if it failed to check timer

exchange_in_use_by_wait_set_state()

bool rclcpp::TimerBase::exchange_in_use_by_wait_set_state

(

bool

in_use_state

)

Exchange the "in use by wait set" state for this timer.

This is used to ensure this timer is not used by multiple wait sets at the same time.

Parameters

[in]

in_use_state

the new state to exchange into the state, true indicates it is now in use by a wait set, and false is that it is no longer in use by a wait set.

Returns

the previous state.

Member Data Documentation

clock_

Clock::SharedPtr rclcpp::TimerBase::clock_

protected

timer_handle_

std::shared_ptr<rcl_timer_t> rclcpp::TimerBase::timer_handle_

protected

in_use_by_wait_set_

std::atomic<bool> rclcpp::TimerBase::in_use_by_wait_set_ {false}

protected

---

The documentation for this class was generated from the following file:

• include/rclcpp/timer.hpp