Class ClockWaiter

• Defined in File clock.hpp

Class Documentation

class ClockWaiter

A synchronization primitive, equal to std::conditional_variable, that works with the rclcpp::Clock.

For more information on the API see https://en.cppreference.com/w/cpp/thread/condition_variable.

Note, this class does not handle shutdowns, if you want to haven them handles as well, use ClockConditionalVariable.

Public Functions

explicit ClockWaiter(const rclcpp::Clock::SharedPtr &clock)

~ClockWaiter()

bool wait_until(std::unique_lock<std::mutex> &lock, const rclcpp::Time &abs_time, const std::function<bool()> &pred)

Calling this function will block the current thread, until abs_time is reached, or pred returns true.

Parameters:

• lock – A locked lock. The lock must be locked at call time, or this method will throw. The lock will be atomically released and this thread will blocked.

• abs_time – The time until which this thread shall be blocked.

• pred – may be called in cased of spurious wakeups, but must be called every time notify_one() was called. During the call to pred, the given lock will be locked. This method will return, if pred returns true.

void notify_one()

Notify the blocked thread, that it should reevaluate the wakeup condition. The given pred function in wait_until will be reevaluated and wait_until will return if it evaluates to true.