Function rcl_clock_add_jump_callback

Function Documentation

rcl_ret_t rcl_clock_add_jump_callback(rcl_clock_t *clock, rcl_jump_threshold_t threshold, rcl_jump_callback_t callback, void *user_data)

Add a callback to be called when a time jump exceeds a threshold.

The callback is called twice when the threshold is exceeded: once before the clock is updated, and once after. The user_data pointer is passed to the callback as the last argument. A callback and user_data pair must be unique among the callbacks added to a clock.

This function is not thread-safe with rcl_clock_remove_jump_callback(), rcl_enable_ros_time_override(), rcl_disable_ros_time_override() nor rcl_set_ros_time_override() functions when used on the same clock object.

Attribute

Adherence

Allocates Memory

Yes

Thread-Safe

No [1]

Uses Atomics

No

Lock-Free

Yes

[1] Function is reentrant, but concurrent calls on the same object are not safe. Thread-safety is also affected by that of the object associated with the object.

Parameters:

  • clock – [in] A clock to add a jump callback to.

  • threshold – [in] Criteria indicating when to call the callback.

  • callback – [in] A callback to call.

  • user_data – [in] A pointer to be passed to the callback.

Returns:

RCL_RET_OK if the callback was added successfully, or

Returns:

RCL_RET_BAD_ALLOC if a memory allocation failed, or

Returns:

RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or

Returns:

RCL_RET_ERROR an unspecified error occurs.