.. _program_listing_file_include_rcl_timer.h:

Program Listing for File timer.h
================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rcl_timer.h>` (``include/rcl/timer.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2015 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 RCL__TIMER_H_
   #define RCL__TIMER_H_
   
   #ifdef __cplusplus
   extern "C"
   {
   #endif
   
   #include <stdbool.h>
   
   #include "rcl/allocator.h"
   #include "rcl/context.h"
   #include "rcl/event_callback.h"
   #include "rcl/guard_condition.h"
   #include "rcl/macros.h"
   #include "rcl/time.h"
   #include "rcl/types.h"
   #include "rmw/rmw.h"
   
   typedef struct rcl_timer_impl_s rcl_timer_impl_t;
   
   typedef struct rcl_timer_s
   {
     rcl_timer_impl_t * impl;
   } rcl_timer_t;
   
   typedef struct rcl_timer_on_reset_callback_data_s
   {
     rcl_event_callback_t on_reset_callback;
     const void * user_data;
     size_t reset_counter;
   } rcl_timer_on_reset_callback_data_t;
   
   
   typedef void (* rcl_timer_callback_t)(rcl_timer_t *, int64_t);
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_timer_t
   rcl_get_zero_initialized_timer(void);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   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);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_timer_fini(rcl_timer_t * timer);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_timer_call(rcl_timer_t * timer);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_timer_clock(rcl_timer_t * timer, rcl_clock_t ** clock);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_timer_is_ready(const rcl_timer_t * timer, bool * is_ready);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_timer_get_time_until_next_call(const rcl_timer_t * timer, int64_t * time_until_next_call);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_timer_get_time_since_last_call(const rcl_timer_t * timer, int64_t * time_since_last_call);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_timer_get_period(const rcl_timer_t * timer, int64_t * period);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_timer_exchange_period(const rcl_timer_t * timer, int64_t new_period, int64_t * old_period);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_timer_callback_t
   rcl_timer_get_callback(const rcl_timer_t * timer);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_timer_callback_t
   rcl_timer_exchange_callback(rcl_timer_t * timer, const rcl_timer_callback_t new_callback);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_timer_cancel(rcl_timer_t * timer);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_timer_is_canceled(const rcl_timer_t * timer, bool * is_canceled);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_timer_reset(rcl_timer_t * timer);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   const rcl_allocator_t *
   rcl_timer_get_allocator(const rcl_timer_t * timer);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_guard_condition_t *
   rcl_timer_get_guard_condition(const rcl_timer_t * timer);
   
   
   RCL_PUBLIC
   RCL_WARN_UNUSED
   rcl_ret_t
   rcl_timer_set_on_reset_callback(
     const rcl_timer_t * timer,
     rcl_event_callback_t on_reset_callback,
     const void * user_data);
   
   #ifdef __cplusplus
   }
   #endif
   
   #endif  // RCL__TIMER_H_