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 #ifdef __cplusplus
19 extern "C"
20 {
21 #endif
22 
23 #include <stdbool.h>
24 
25 #include "rcl/allocator.h"
26 #include "rcl/context.h"
27 #include "rcl/guard_condition.h"
28 #include "rcl/macros.h"
29 #include "rcl/time.h"
30 #include "rcl/types.h"
31 #include "rmw/rmw.h"
32 
33 struct rcl_clock_t;
34 struct rcl_timer_impl_t;
35 
37 typedef struct rcl_timer_t
38 {
40  struct rcl_timer_impl_t * impl;
41 } rcl_timer_t;
42 
44 
56 typedef void (* rcl_timer_callback_t)(rcl_timer_t *, int64_t);
57 
59 RCL_PUBLIC
60 RCL_WARN_UNUSED
61 rcl_timer_t
62 rcl_get_zero_initialized_timer(void);
63 
65 
150 RCL_PUBLIC
151 RCL_WARN_UNUSED
152 rcl_ret_t
153 rcl_timer_init(
154  rcl_timer_t * timer,
155  rcl_clock_t * clock,
156  rcl_context_t * context,
157  int64_t period,
158  const rcl_timer_callback_t callback,
159  rcl_allocator_t allocator);
160 
162 
187 RCL_PUBLIC
188 RCL_WARN_UNUSED
189 rcl_ret_t
190 rcl_timer_fini(rcl_timer_t * timer);
191 
193 
231 RCL_PUBLIC
232 RCL_WARN_UNUSED
233 rcl_ret_t
234 rcl_timer_call(rcl_timer_t * timer);
235 
237 
257 RCL_PUBLIC
258 RCL_WARN_UNUSED
259 rcl_ret_t
260 rcl_timer_clock(rcl_timer_t * timer, rcl_clock_t ** clock);
261 
263 
287 RCL_PUBLIC
288 RCL_WARN_UNUSED
289 rcl_ret_t
290 rcl_timer_is_ready(const rcl_timer_t * timer, bool * is_ready);
291 
293 
322 RCL_PUBLIC
323 RCL_WARN_UNUSED
324 rcl_ret_t
325 rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_until_next_call);
326 
328 
354 RCL_PUBLIC
355 RCL_WARN_UNUSED
356 rcl_ret_t
357 rcl_timer_get_time_since_last_call(const rcl_timer_t * timer, int64_t * time_since_last_call);
358 
360 
381 RCL_PUBLIC
382 RCL_WARN_UNUSED
383 rcl_ret_t
384 rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period);
385 
387 
412 RCL_PUBLIC
413 RCL_WARN_UNUSED
414 rcl_ret_t
415 rcl_timer_exchange_period(const rcl_timer_t * timer, int64_t new_period, int64_t * old_period);
416 
418 
435 RCL_PUBLIC
436 RCL_WARN_UNUSED
437 rcl_timer_callback_t
438 rcl_timer_get_callback(const rcl_timer_t * timer);
439 
441 
462 RCL_PUBLIC
463 RCL_WARN_UNUSED
464 rcl_timer_callback_t
465 rcl_timer_exchange_callback(rcl_timer_t * timer, const rcl_timer_callback_t new_callback);
466 
468 
490 RCL_PUBLIC
491 RCL_WARN_UNUSED
492 rcl_ret_t
493 rcl_timer_cancel(rcl_timer_t * timer);
494 
496 
519 RCL_PUBLIC
520 RCL_WARN_UNUSED
521 rcl_ret_t
522 rcl_timer_is_canceled(const rcl_timer_t * timer, bool * is_canceled);
523 
525 
545 RCL_PUBLIC
546 RCL_WARN_UNUSED
547 rcl_ret_t
548 rcl_timer_reset(rcl_timer_t * timer);
549 
551 
569 const rcl_allocator_t *
570 rcl_timer_get_allocator(const rcl_timer_t * timer);
571 
573 
586 RCL_PUBLIC
587 RCL_WARN_UNUSED
588 rcl_guard_condition_t *
589 rcl_timer_get_guard_condition(const rcl_timer_t * timer);
590 
591 #ifdef __cplusplus
592 }
593 #endif
594 
595 #endif // RCL__TIMER_H_
rcl_timer_get_guard_condition
rcl_guard_condition_t * rcl_timer_get_guard_condition(const rcl_timer_t *timer)
Retrieve a guard condition used by the timer to wake the waitset when using ROSTime.
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_timer_callback_t
void(* rcl_timer_callback_t)(rcl_timer_t *, int64_t)
User callback signature for timers.
Definition: timer.h:56
rcl_ret_t
rmw_ret_t rcl_ret_t
Definition: types.h:20
rcl_timer_exchange_period
rcl_ret_t rcl_timer_exchange_period(const rcl_timer_t *timer, int64_t new_period, int64_t *old_period)
Exchange the period of the timer and return the previous period.
rcl_timer_get_time_since_last_call
rcl_ret_t rcl_timer_get_time_since_last_call(const rcl_timer_t *timer, int64_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_timer_clock
rcl_ret_t rcl_timer_clock(rcl_timer_t *timer, rcl_clock_t **clock)
Retrieve the clock of the timer.
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_timer_get_period
rcl_ret_t rcl_timer_get_period(const rcl_timer_t *timer, int64_t *period)
Retrieve the period of the timer.
rcl_clock_t
Encapsulation of a time source.
Definition: time.h:117
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_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_init
rcl_ret_t rcl_timer_init(rcl_timer_t *timer, rcl_clock_t *clock, rcl_context_t *context, int64_t period, const rcl_timer_callback_t callback, rcl_allocator_t allocator)
Initialize a timer.
rcl_timer_t::impl
struct rcl_timer_impl_t * impl
Private implementation pointer.
Definition: timer.h:40
rcl_timer_t
Structure which encapsulates a ROS Timer.
Definition: timer.h:37
guard_condition.h
rcl_context_t
Encapsulates the non-global state of an init/shutdown cycle.
Definition: context.h:108
rcl_guard_condition_t
Handle for a rcl guard condition.
Definition: guard_condition.h:33
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.
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