clock.hpp

// Copyright 2017 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.
 
#ifndef RCLCPP__CLOCK_HPP_
#define RCLCPP__CLOCK_HPP_
 
#include <functional>
#include <memory>
#include <mutex>
 
#include "rclcpp/contexts/default_context.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/visibility_control.hpp"
 
#include "rcl/time.h"
#include "rcutils/time.h"
#include "rcutils/types/rcutils_ret.h"
 
namespace rclcpp
{
 
class TimeSource;
 
class JumpHandler
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(JumpHandler)
 
  using pre_callback_t = std::function<void ()>;
  using post_callback_t = std::function<void (const rcl_time_jump_t &)>;
 
  JumpHandler(
    pre_callback_t pre_callback,
    post_callback_t post_callback,
    const rcl_jump_threshold_t & threshold);
 
  pre_callback_t pre_callback;
  post_callback_t post_callback;
  rcl_jump_threshold_t notice_threshold;
};
 
class Clock
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(Clock)
 
  
  RCLCPP_PUBLIC
  explicit Clock(rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);
 
  RCLCPP_PUBLIC
  ~Clock();
 
  RCLCPP_PUBLIC
  Time
  now() const;
 
  RCLCPP_PUBLIC
  bool
  sleep_until(
    Time until,
    Context::SharedPtr context = contexts::get_global_default_context());
 
  RCLCPP_PUBLIC
  bool
  sleep_for(
    Duration rel_time,
    Context::SharedPtr context = contexts::get_global_default_context());
 
  RCLCPP_PUBLIC
  bool
  started();
 
  RCLCPP_PUBLIC
  bool
  wait_until_started(Context::SharedPtr context = contexts::get_global_default_context());
 
  RCLCPP_PUBLIC
  bool
  wait_until_started(
    const rclcpp::Duration & timeout,
    Context::SharedPtr context = contexts::get_global_default_context(),
    const rclcpp::Duration & wait_tick_ns = rclcpp::Duration(0, static_cast<uint32_t>(1e7)));
 
  RCLCPP_PUBLIC
  bool
  ros_time_is_active();
 
  RCLCPP_PUBLIC
  void
  cancel_sleep_or_wait();
 
  RCLCPP_PUBLIC
  rcl_clock_t *
  get_clock_handle() noexcept;
 
  RCLCPP_PUBLIC
  rcl_clock_type_t
  get_clock_type() const noexcept;
 
  RCLCPP_PUBLIC
  std::mutex &
  get_clock_mutex() noexcept;
 
  // Add a callback to invoke if the jump threshold is exceeded.
  RCLCPP_PUBLIC
  JumpHandler::SharedPtr
  create_jump_callback(
    JumpHandler::pre_callback_t pre_callback,
    JumpHandler::post_callback_t post_callback,
    const rcl_jump_threshold_t & threshold);
 
private:
  // Invoke time jump callback
  RCLCPP_PUBLIC
  static void
  on_time_jump(
    const rcl_time_jump_t * time_jump,
    bool before_jump,
    void * user_data);
 
  class Impl;
 
  std::shared_ptr<Impl> impl_;
};
 
class ClockWaiter
{
private:
  class ClockWaiterImpl;
  std::unique_ptr<ClockWaiterImpl> impl_;
 
public:
  RCLCPP_SMART_PTR_DEFINITIONS(ClockWaiter)
 
  RCLCPP_PUBLIC
  explicit ClockWaiter(const rclcpp::Clock::SharedPtr & clock);
 
  RCLCPP_PUBLIC
  ~ClockWaiter();
 
  RCLCPP_PUBLIC
  bool
  wait_until(
    std::unique_lock<std::mutex> & lock,
    const rclcpp::Time & abs_time, const std::function<bool ()> & pred);
 
  RCLCPP_PUBLIC
  void
  notify_one();
};
 
 
class ClockConditionalVariable
{
  class Impl;
  std::unique_ptr<Impl> impl_;
 
public:
  RCLCPP_SMART_PTR_DEFINITIONS(ClockConditionalVariable)
 
  RCLCPP_PUBLIC
  ClockConditionalVariable(
    const rclcpp::Clock::SharedPtr & clock,
    rclcpp::Context::SharedPtr context = rclcpp::contexts::get_global_default_context());
  RCLCPP_PUBLIC
  ~ClockConditionalVariable();
 
  RCLCPP_PUBLIC
  bool
  wait_until(
    std::unique_lock<std::mutex> & lock, rclcpp::Time until,
    const std::function<bool ()> & pred);
 
  RCLCPP_PUBLIC
  void
  notify_one();
 
  RCLCPP_PUBLIC
  std::mutex &
  mutex();
};
 
 
}  // namespace rclcpp
 
#endif  // RCLCPP__CLOCK_HPP_