rclcpp::GenericTimer< FunctorT, > Class Template Reference

Generic timer. Periodically executes a user-specified callback. More...

#include <rclcpp/timer.hpp>

Inheritance diagram for rclcpp::GenericTimer< FunctorT, >:

Collaboration diagram for rclcpp::GenericTimer< FunctorT, >:

Public Member Functions
	GenericTimer (Clock::SharedPtr clock, std::chrono::nanoseconds period, FunctorT &&callback, rclcpp::Context::SharedPtr context, bool autostart=true)
	Default constructor. More...
virtual	~GenericTimer ()
	Default destructor.
std::shared_ptr< void >	call () override
void	execute_callback (const std::shared_ptr< void > &data) override
template<typename CallbackT = FunctorT, typename std::enable_if< rclcpp::function_traits::same_arguments< CallbackT, VoidCallbackType >::value >::type * = nullptr>
void	execute_callback_delegate (const rcl_timer_call_info_t &)
template<typename CallbackT = FunctorT, typename std::enable_if< rclcpp::function_traits::same_arguments< CallbackT, TimerCallbackType >::value >::type * = nullptr>
void	execute_callback_delegate (const rcl_timer_call_info_t &)
template<typename CallbackT = FunctorT, typename std::enable_if< rclcpp::function_traits::same_arguments< CallbackT, TimerInfoCallbackType >::value >::type * = nullptr>
void	execute_callback_delegate (const rcl_timer_call_info_t &timer_call_info)
bool	is_steady () override
	Is the clock steady (i.e. is the time between ticks constant?) More...
Public Member Functions inherited from rclcpp::TimerBase
RCLCPP_PUBLIC	TimerBase (Clock::SharedPtr clock, std::chrono::nanoseconds period, rclcpp::Context::SharedPtr context, bool autostart=true)
	TimerBase constructor. More...
virtual RCLCPP_PUBLIC	~TimerBase ()
	TimerBase destructor.
RCLCPP_PUBLIC void	cancel ()
	Cancel the timer. More...
RCLCPP_PUBLIC bool	is_canceled ()
	Return the timer cancellation state. More...
RCLCPP_PUBLIC void	reset ()
	Reset the timer. More...
RCLCPP_PUBLIC std::shared_ptr< const rcl_timer_t >	get_timer_handle ()
RCLCPP_PUBLIC std::chrono::nanoseconds	time_until_trigger ()
	Check how long the timer has until its next scheduled callback. More...
RCLCPP_PUBLIC bool	is_ready ()
	Check if the timer is ready to trigger the callback. More...
RCLCPP_PUBLIC bool	exchange_in_use_by_wait_set_state (bool in_use_state)
	Exchange the "in use by wait set" state for this timer. More...
RCLCPP_PUBLIC void	set_on_reset_callback (std::function< void(size_t)> callback)
	Set a callback to be called when the timer is reset. More...
RCLCPP_PUBLIC void	clear_on_reset_callback ()
	Unset the callback registered for reset timer.

Protected Attributes
FunctorT	callback_
Protected Attributes inherited from rclcpp::TimerBase
std::recursive_mutex	callback_mutex_
std::function< void(size_t)>	on_reset_callback_ {nullptr}
Clock::SharedPtr	clock_
std::shared_ptr< rcl_timer_t >	timer_handle_
std::atomic< bool >	in_use_by_wait_set_ {false}

Additional Inherited Members
Protected Member Functions inherited from rclcpp::TimerBase
RCLCPP_PUBLIC void	set_on_reset_callback (rcl_event_callback_t callback, const void *user_data)

Detailed Description

template<typename FunctorT, typename std::enable_if< rclcpp::function_traits::same_arguments< FunctorT, VoidCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerInfoCallbackType >::value >::type * = nullptr>
class rclcpp::GenericTimer< FunctorT, >

Generic timer. Periodically executes a user-specified callback.

Definition at line 225 of file timer.hpp.

Constructor & Destructor Documentation

GenericTimer()

template<typename FunctorT , typename std::enable_if< rclcpp::function_traits::same_arguments< FunctorT, VoidCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerInfoCallbackType >::value >::type * = nullptr>

rclcpp::GenericTimer< FunctorT, >::GenericTimer ( Clock::SharedPtr  clock, std::chrono::nanoseconds  period, FunctorT &&  callback, rclcpp::Context::SharedPtr  context, bool  autostart = true  )

inlineexplicit

Default constructor.

Parameters

[in]	clock	The clock providing the current time.
[in]	period	The interval at which the timer fires.
[in]	callback	User-specified callback function.
[in]	context	custom context to be used.
	autostart	timer state on initialization

Definition at line 238 of file timer.hpp.

Member Function Documentation

call()

template<typename FunctorT , typename std::enable_if< rclcpp::function_traits::same_arguments< FunctorT, VoidCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerInfoCallbackType >::value >::type * = nullptr>

std::shared_ptr<void> rclcpp::GenericTimer< FunctorT, >::call ( )

inlineoverridevirtual

See also

rclcpp::TimerBase::call

Exceptions

std::runtime_error

if it failed to notify timer that callback will occurr

Implements rclcpp::TimerBase.

Definition at line 272 of file timer.hpp.

References RCL_RET_OK, RCL_RET_TIMER_CANCELED, and rcl_timer_call_with_info().

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execute_callback()

template<typename FunctorT , typename std::enable_if< rclcpp::function_traits::same_arguments< FunctorT, VoidCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerInfoCallbackType >::value >::type * = nullptr>

void rclcpp::GenericTimer< FunctorT, >::execute_callback ( const std::shared_ptr< void > &  data )

inlineoverridevirtual

See also

rclcpp::TimerBase::execute_callback

Implements rclcpp::TimerBase.

Definition at line 289 of file timer.hpp.

is_steady()

template<typename FunctorT , typename std::enable_if< rclcpp::function_traits::same_arguments< FunctorT, VoidCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerCallbackType >::value||rclcpp::function_traits::same_arguments< FunctorT, TimerInfoCallbackType >::value >::type * = nullptr>

bool rclcpp::GenericTimer< FunctorT, >::is_steady ( )

inlineoverridevirtual

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

Returns

True if the clock used by this timer is steady.

Implements rclcpp::TimerBase.

Definition at line 339 of file timer.hpp.

References RCL_STEADY_TIME.

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

• rclcpp/include/rclcpp/timer.hpp