A class for managing a queue of timers. More...

#include </home/runner/work/api.nav2.org/api.nav2.org/work/rclcpp-rolling/rclcpp/src/rclcpp/executors/events_cbg_executor/timer_manager.hpp>

Public Member Functions
	TimerQueue (rcl_clock_type_t timer_type, const rclcpp::Context::SharedPtr &context)

void	stop ()

void	remove_timer (const rclcpp::TimerBase::SharedPtr &timer)
	Removes a new timer from the queue. This function is thread safe. More...

void	add_timer (const rclcpp::TimerBase::SharedPtr &timer, const std::function< void(const std::function< void()> executed_cb)> &timer_ready_callback)
	Adds a new timer to the queue. This function is thread safe. More...

Detailed Description

A class for managing a queue of timers.

This class holds a queue of timers of one type (RCL_ROS_TIME, RCL_SYSTEM_TIME or RCL_STEADY_TIME). The queue itself manages an internal map of the timers, orders by the next time a timer will be ready. Each time a timer is ready, a callback will be called from the internal thread.

Definition at line 121 of file timer_manager.hpp.

Member Function Documentation

◆ add_timer()

void rclcpp::executors::cbg_executor::TimerQueue::add_timer	(	const rclcpp::TimerBase::SharedPtr &	timer,
		const std::function< void(const std::function< void()> executed_cb)> &	timer_ready_callback
	)

inline

Adds a new timer to the queue. This function is thread safe.

This function will ignore any timer, that has not a matching type

Parameters

timer	the timer to add.
timer_ready_callback	callback that should be called when the timer is ready.

Definition at line 234 of file timer_manager.hpp.

References RCL_RET_OK, and rcl_timer_clock().

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◆ remove_timer()

void rclcpp::executors::cbg_executor::TimerQueue::remove_timer ( const rclcpp::TimerBase::SharedPtr & timer )

inline

Removes a new timer from the queue. This function is thread safe.

Removes a timer, if it was added to this queue. Ignores timers that are not part of this queue

Parameters

timer the timer to remove.

Definition at line 177 of file timer_manager.hpp.