Merge pull request #159 from ros2/finite_timer

Add alternative callback signature to timer for accepting a Timer reference

rclcpp/include/rclcpp/node.hpp

@@ -171,11 +171,12 @@ public:
    * \param[in] callback User-defined callback function.
    * \param[in] group Callback group to execute this timer's callback in.
    */
+  template<typename CallbackType>
   RCLCPP_PUBLIC
-  rclcpp::timer::WallTimer::SharedPtr
+  typename rclcpp::timer::WallTimer<CallbackType>::SharedPtr
   create_wall_timer(
     std::chrono::nanoseconds period,
-    rclcpp::timer::CallbackType callback,
+    CallbackType && callback,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
   /// Create a timer.

rclcpp/include/rclcpp/node_impl.hpp

@@ -270,6 +270,28 @@ Node::create_subscription(
     allocator);
 }
 
+template<typename CallbackType>
+typename rclcpp::timer::WallTimer<CallbackType>::SharedPtr
+Node::create_wall_timer(
+  std::chrono::nanoseconds period,
+  CallbackType && callback,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group)
+{
+  auto timer = rclcpp::timer::WallTimer<CallbackType>::make_shared(
+    period, std::forward<CallbackType>(callback));
+  if (group) {
+    if (!group_in_node(group)) {
+      // TODO(jacquelinekay): use custom exception
+      throw std::runtime_error("Cannot create timer, group not in node.");
+    }
+    group->add_timer(timer);
+  } else {
+    default_callback_group_->add_timer(timer);
+  }
+  number_of_timers_++;
+  return timer;
+}
+
 template<typename ServiceT>
 typename client::Client<ServiceT>::SharedPtr
 Node::create_client(

rclcpp/include/rclcpp/timer.hpp

@@ -20,7 +20,9 @@
 #include <memory>
 #include <sstream>
 #include <thread>
+#include <type_traits>
 
+#include "rclcpp/function_traits.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/rate.hpp"
 #include "rclcpp/utilities.hpp"
@@ -33,15 +35,13 @@ namespace rclcpp
 namespace timer
 {
 
-using CallbackType = std::function<void()>;
-
 class TimerBase
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(TimerBase);
 
   RCLCPP_PUBLIC
-  TimerBase(std::chrono::nanoseconds period, CallbackType callback);
+  TimerBase(std::chrono::nanoseconds period);
 
   RCLCPP_PUBLIC
   virtual ~TimerBase();
@@ -51,12 +51,8 @@ public:
   cancel();
 
   RCLCPP_PUBLIC
-  void
+  virtual void
-  execute_callback() const;
+  execute_callback() = 0;
-
-  RCLCPP_PUBLIC
-  const CallbackType &
-  get_callback() const;
 
   /// Check how long the timer has until its next scheduled callback.
   // \return A std::chrono::duration representing the relative time until the next callback.
@@ -77,13 +73,23 @@ public:
 
 protected:
   std::chrono::nanoseconds period_;
-  CallbackType callback_;
 
   bool canceled_;
 };
 
+
+using VoidCallbackType = std::function<void()>;
+using TimerCallbackType = std::function<void(TimerBase &)>;
+
 /// Generic timer templated on the clock type. Periodically executes a user-specified callback.
-template<class Clock = std::chrono::high_resolution_clock>
+template<
+  typename FunctorT,
+  class Clock = std::chrono::high_resolution_clock,
+  typename std::enable_if<
+    rclcpp::function_traits::same_arguments<FunctorT, VoidCallbackType>::value ||
+    rclcpp::function_traits::same_arguments<FunctorT, TimerCallbackType>::value
+  >::type * = nullptr
+>
 class GenericTimer : public TimerBase
 {
 public:
@@ -94,8 +100,8 @@ public:
    * \param[in] period The interval at which the timer fires.
    * \param[in] callback User-specified callback function.
    */
-  GenericTimer(std::chrono::nanoseconds period, CallbackType callback)
+  GenericTimer(std::chrono::nanoseconds period, FunctorT && callback)
-  : TimerBase(period, callback), loop_rate_(period)
+  : TimerBase(period), callback_(callback), loop_rate_(period)
   {
     /* Set last_triggered_time_ so that the timer fires at least one period after being created. */
     last_triggered_time_ = Clock::now();
@@ -108,6 +114,38 @@ public:
     cancel();
   }
 
+  void
+  execute_callback()
+  {
+    execute_callback_delegate<>();
+  }
+
+  // void specialization
+  template<
+    typename CallbackT = FunctorT,
+    typename std::enable_if<
+      rclcpp::function_traits::same_arguments<CallbackT, VoidCallbackType>::value
+    >::type * = nullptr
+  >
+  void
+  execute_callback_delegate()
+  {
+    callback_();
+  }
+
+  template<
+    typename CallbackT = FunctorT,
+    typename std::enable_if<
+      rclcpp::function_traits::same_arguments<CallbackT, TimerCallbackType>::value
+    >::type * = nullptr
+  >
+  void
+  execute_callback_delegate()
+  {
+    //callback_(std::move(std::shared_ptr<TimerBase>(this)));
+    callback_(*this);
+  }
+
   bool
   check_and_trigger()
   {
@@ -147,14 +185,16 @@ public:
     return Clock::is_steady;
   }
 
-private:
+protected:
   RCLCPP_DISABLE_COPY(GenericTimer);
 
+  FunctorT callback_;
   rclcpp::rate::GenericRate<Clock> loop_rate_;
   std::chrono::time_point<Clock> last_triggered_time_;
 };
 
-using WallTimer = GenericTimer<std::chrono::steady_clock>;
+template<typename CallbackType>
+using WallTimer = GenericTimer<CallbackType, std::chrono::steady_clock>;
 
 }  // namespace timer
 }  // namespace rclcpp

rclcpp/src/rclcpp/node.cpp

@@ -151,26 +151,6 @@ Node::group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
   return group_belongs_to_this_node;
 }
 
-rclcpp::timer::WallTimer::SharedPtr
-Node::create_wall_timer(
-  std::chrono::nanoseconds period,
-  rclcpp::timer::CallbackType callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group)
-{
-  auto timer = rclcpp::timer::WallTimer::make_shared(period, callback);
-  if (group) {
-    if (!group_in_node(group)) {
-      // TODO(jacquelinekay): use custom exception
-      throw std::runtime_error("Cannot create timer, group not in node.");
-    }
-    group->add_timer(timer);
-  } else {
-    default_callback_group_->add_timer(timer);
-  }
-  number_of_timers_++;
-  return timer;
-}
-
 // TODO(wjwwood): reenable this once I figure out why the demo doesn't build with it.
 // rclcpp::timer::WallTimer::SharedPtr
 // Node::create_wall_timer(

rclcpp/src/rclcpp/timer.cpp

@@ -16,12 +16,10 @@
 
 #include <chrono>
 
-using rclcpp::timer::CallbackType;
 using rclcpp::timer::TimerBase;
 
-TimerBase::TimerBase(std::chrono::nanoseconds period, CallbackType callback)
+TimerBase::TimerBase(std::chrono::nanoseconds period)
 : period_(period),
-  callback_(callback),
   canceled_(false)
 {}
 
@@ -33,15 +31,3 @@ TimerBase::cancel()
 {
   this->canceled_ = true;
 }
-
-void
-TimerBase::execute_callback() const
-{
-  callback_();
-}
-
-const CallbackType &
-TimerBase::get_callback() const
-{
-  return callback_;
-}