Program Listing for File clock.hpp
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// Copyright 2017 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 RCLCPP__CLOCK_HPP_
#define RCLCPP__CLOCK_HPP_
#include <functional>
#include <memory>
#include <mutex>
#include "rclcpp/contexts/default_context.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/visibility_control.hpp"
#include "rcl/time.h"
#include "rcutils/time.h"
#include "rcutils/types/rcutils_ret.h"
namespace rclcpp
{
class TimeSource;
class JumpHandler
{
public:
RCLCPP_SMART_PTR_DEFINITIONS(JumpHandler)
using pre_callback_t = std::function<void ()>;
using post_callback_t = std::function<void (const rcl_time_jump_t &)>;
JumpHandler(
pre_callback_t pre_callback,
post_callback_t post_callback,
const rcl_jump_threshold_t & threshold);
pre_callback_t pre_callback;
post_callback_t post_callback;
rcl_jump_threshold_t notice_threshold;
};
class Clock
{
public:
RCLCPP_SMART_PTR_DEFINITIONS(Clock)
RCLCPP_PUBLIC
explicit Clock(rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);
RCLCPP_PUBLIC
~Clock();
RCLCPP_PUBLIC
Time
now() const;
RCLCPP_PUBLIC
bool
sleep_until(
Time until,
Context::SharedPtr context = contexts::get_global_default_context());
RCLCPP_PUBLIC
bool
sleep_for(
Duration rel_time,
Context::SharedPtr context = contexts::get_global_default_context());
RCLCPP_PUBLIC
bool
started();
RCLCPP_PUBLIC
bool
wait_until_started(Context::SharedPtr context = contexts::get_global_default_context());
RCLCPP_PUBLIC
bool
wait_until_started(
const rclcpp::Duration & timeout,
Context::SharedPtr context = contexts::get_global_default_context(),
const rclcpp::Duration & wait_tick_ns = rclcpp::Duration(0, static_cast<uint32_t>(1e7)));
RCLCPP_PUBLIC
bool
ros_time_is_active();
RCLCPP_PUBLIC
void
cancel_sleep_or_wait();
RCLCPP_PUBLIC
rcl_clock_t *
get_clock_handle() noexcept;
RCLCPP_PUBLIC
rcl_clock_type_t
get_clock_type() const noexcept;
RCLCPP_PUBLIC
std::mutex &
get_clock_mutex() noexcept;
RCLCPP_PUBLIC
JumpHandler::SharedPtr
create_jump_callback(
JumpHandler::pre_callback_t pre_callback,
JumpHandler::post_callback_t post_callback,
const rcl_jump_threshold_t & threshold);
private:
// Invoke time jump callback
RCLCPP_PUBLIC
static void
on_time_jump(
const rcl_time_jump_t * time_jump,
bool before_jump,
void * user_data);
class Impl;
std::shared_ptr<Impl> impl_;
};
} // namespace rclcpp
#endif // RCLCPP__CLOCK_HPP_