#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 ()

void	cancel ()

bool	is_canceled ()
	Return the timer cancellation state. More...

void	reset ()

virtual void	execute_callback ()=0

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...

Protected Attributes
Clock::SharedPtr	clock_

std::shared_ptr< rcl_timer_t >	timer_handle_

Constructor & Destructor Documentation

◆ TimerBase()

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

explicit

◆ ~TimerBase()

rclcpp::TimerBase::~TimerBase ( )

Member Function Documentation

◆ cancel()

void rclcpp::TimerBase::cancel ( )

◆ 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
RCLErrorBase	some child class exception based on ret

◆ reset()

void rclcpp::TimerBase::reset ( )

◆ execute_callback()

virtual void rclcpp::TimerBase::execute_callback ( )

pure virtual

Implemented in rclcpp::GenericTimer< FunctorT, std::enable_if< rclcpp::function_traits::same_arguments< FunctorT, VoidCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerCallbackType >::value >::type * >, 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.

◆ 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, std::enable_if< rclcpp::function_traits::same_arguments< FunctorT, VoidCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerCallbackType >::value >::type * >, 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.

Member Data Documentation

◆ clock_

Clock::SharedPtr rclcpp::TimerBase::clock_

protected

◆ timer_handle_

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