rcl  master
C API providing common ROS client library functionality.
timer.h
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1 // Copyright 2015 Open Source Robotics Foundation, Inc.
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 #ifndef RCL__TIMER_H_
16 #define RCL__TIMER_H_
17 
18 #if __cplusplus
19 extern "C"
20 {
21 #endif
22 
23 #include <stdbool.h>
24 
25 #include "rcl/allocator.h"
26 #include "rcl/macros.h"
27 #include "rcl/time.h"
28 #include "rcl/types.h"
29 #include "rmw/rmw.h"
30 
31 struct rcl_timer_impl_t;
32 
34 typedef struct rcl_timer_t
35 {
37  struct rcl_timer_impl_t * impl;
38 } rcl_timer_t;
39 
41 
53 typedef void (* rcl_timer_callback_t)(rcl_timer_t *, uint64_t);
54 
56 RCL_PUBLIC
57 RCL_WARN_UNUSED
58 rcl_timer_t
59 rcl_get_zero_initialized_timer(void);
60 
62 
135 RCL_PUBLIC
136 RCL_WARN_UNUSED
137 rcl_ret_t
138 rcl_timer_init(
139  rcl_timer_t * timer,
140  uint64_t period,
141  const rcl_timer_callback_t callback,
142  rcl_allocator_t allocator);
143 
145 
170 RCL_PUBLIC
171 RCL_WARN_UNUSED
172 rcl_ret_t
173 rcl_timer_fini(rcl_timer_t * timer);
174 
176 
214 RCL_PUBLIC
215 RCL_WARN_UNUSED
216 rcl_ret_t
217 rcl_timer_call(rcl_timer_t * timer);
218 
220 
244 RCL_PUBLIC
245 RCL_WARN_UNUSED
246 rcl_ret_t
247 rcl_timer_is_ready(const rcl_timer_t * timer, bool * is_ready);
248 
250 
279 RCL_PUBLIC
280 RCL_WARN_UNUSED
281 rcl_ret_t
282 rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_until_next_call);
283 
285 
311 RCL_PUBLIC
312 RCL_WARN_UNUSED
313 rcl_ret_t
314 rcl_timer_get_time_since_last_call(const rcl_timer_t * timer, uint64_t * time_since_last_call);
315 
317 
338 RCL_PUBLIC
339 RCL_WARN_UNUSED
340 rcl_ret_t
341 rcl_timer_get_period(const rcl_timer_t * timer, uint64_t * period);
342 
344 
369 RCL_PUBLIC
370 RCL_WARN_UNUSED
371 rcl_ret_t
372 rcl_timer_exchange_period(const rcl_timer_t * timer, uint64_t new_period, uint64_t * old_period);
373 
375 
392 RCL_PUBLIC
393 RCL_WARN_UNUSED
394 rcl_timer_callback_t
395 rcl_timer_get_callback(const rcl_timer_t * timer);
396 
398 
419 RCL_PUBLIC
420 RCL_WARN_UNUSED
421 rcl_timer_callback_t
422 rcl_timer_exchange_callback(rcl_timer_t * timer, const rcl_timer_callback_t new_callback);
423 
425 
447 RCL_PUBLIC
448 RCL_WARN_UNUSED
449 rcl_ret_t
450 rcl_timer_cancel(rcl_timer_t * timer);
451 
453 
476 RCL_PUBLIC
477 RCL_WARN_UNUSED
478 rcl_ret_t
479 rcl_timer_is_canceled(const rcl_timer_t * timer, bool * is_canceled);
480 
482 
502 RCL_PUBLIC
503 RCL_WARN_UNUSED
504 rcl_ret_t
505 rcl_timer_reset(rcl_timer_t * timer);
506 
508 
526 const rcl_allocator_t *
527 rcl_timer_get_allocator(const rcl_timer_t * timer);
528 
529 #if __cplusplus
530 }
531 #endif
532 
533 #endif // RCL__TIMER_H_
rcl_timer_is_ready
rcl_ret_t rcl_timer_is_ready(const rcl_timer_t *timer, bool *is_ready)
Calculates whether or not the timer should be called.
rcl_ret_t
rmw_ret_t rcl_ret_t
Definition: types.h:20
rcl_timer_callback_t
void(* rcl_timer_callback_t)(rcl_timer_t *, uint64_t)
User callback signature for timers.
Definition: timer.h:53
rcl_timer_get_time_since_last_call
rcl_ret_t rcl_timer_get_time_since_last_call(const rcl_timer_t *timer, uint64_t *time_since_last_call)
Retrieve the time since the previous call to rcl_timer_call() occurred.
rcl_timer_fini
rcl_ret_t rcl_timer_fini(rcl_timer_t *timer)
Finalize a timer.
rcl_get_zero_initialized_timer
rcl_timer_t rcl_get_zero_initialized_timer(void)
Return a zero initialized timer.
rcl_timer_reset
rcl_ret_t rcl_timer_reset(rcl_timer_t *timer)
Reset a timer.
rcl_timer_t
struct rcl_timer_t rcl_timer_t
Structure which encapsulates a ROS Timer.
rcl_timer_call
rcl_ret_t rcl_timer_call(rcl_timer_t *timer)
Call the timer&#39;s callback and set the last call time.
rcl_timer_get_callback
rcl_timer_callback_t rcl_timer_get_callback(const rcl_timer_t *timer)
Return the current timer callback.
RCL_WARN_UNUSED
#define RCL_WARN_UNUSED
Ignored return values of functions with this macro will emit a warning.
Definition: macros.h:25
rcutils_allocator_t
RCL_PUBLIC
#define RCL_PUBLIC
Definition: visibility_control.h:48
rcl_timer_get_time_until_next_call
rcl_ret_t rcl_timer_get_time_until_next_call(const rcl_timer_t *timer, int64_t *time_until_next_call)
Calculate and retrieve the time until the next call in nanoseconds.
rcl_timer_init
rcl_ret_t rcl_timer_init(rcl_timer_t *timer, uint64_t period, const rcl_timer_callback_t callback, rcl_allocator_t allocator)
Initialize a timer.
rcl_timer_is_canceled
rcl_ret_t rcl_timer_is_canceled(const rcl_timer_t *timer, bool *is_canceled)
Retrieve the canceled state of a timer.
rcl_timer_cancel
rcl_ret_t rcl_timer_cancel(rcl_timer_t *timer)
Cancel a timer.
rcl_timer_t::impl
struct rcl_timer_impl_t * impl
Private implementation pointer.
Definition: timer.h:37
rcl_timer_get_period
rcl_ret_t rcl_timer_get_period(const rcl_timer_t *timer, uint64_t *period)
Retrieve the period of the timer.
rcl_timer_t
Structure which encapsulates a ROS Timer.
Definition: timer.h:34
rcl_timer_get_allocator
const rcl_allocator_t * rcl_timer_get_allocator(const rcl_timer_t *timer)
Return the allocator for the timer.
rcl_timer_exchange_callback
rcl_timer_callback_t rcl_timer_exchange_callback(rcl_timer_t *timer, const rcl_timer_callback_t new_callback)
Exchange the current timer callback and return the current callback.
rcl_timer_exchange_period
rcl_ret_t rcl_timer_exchange_period(const rcl_timer_t *timer, uint64_t new_period, uint64_t *old_period)
Exchange the period of the timer and return the previous period.
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