Add rclcpp::create_timer() (#757)
* Add rclcpp::create_timer() Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Friendly overload with node-like object Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * forward<CallbackT> Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Make sure test with NodeWrapper compiles Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
This commit is contained in:
Shane Loretz
GitHub
parent
4532d9cf78
commit
411e748632
5 changed files with 442 additions and 0 deletions
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@ -155,6 +155,18 @@ if(BUILD_TESTING)
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)
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target_link_libraries(test_client ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_create_timer test/test_create_timer.cpp)
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if(TARGET test_create_timer)
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ament_target_dependencies(test_create_timer
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"rcl_interfaces"
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"rmw"
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"rcl"
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"rosidl_generator_cpp"
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"rosidl_typesupport_cpp"
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)
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target_link_libraries(test_create_timer ${PROJECT_NAME})
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target_include_directories(test_create_timer PRIVATE test/)
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endif()
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ament_add_gtest(test_expand_topic_or_service_name test/test_expand_topic_or_service_name.cpp)
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if(TARGET test_expand_topic_or_service_name)
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ament_target_dependencies(test_expand_topic_or_service_name
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73
rclcpp/include/rclcpp/create_timer.hpp
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73
rclcpp/include/rclcpp/create_timer.hpp
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@ -0,0 +1,73 @@
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__CREATE_TIMER_HPP_
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#define RCLCPP__CREATE_TIMER_HPP_
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#include <memory>
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#include <string>
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#include <utility>
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#include "rclcpp/duration.hpp"
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# include "rclcpp/node_interfaces/get_node_base_interface.hpp"
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# include "rclcpp/node_interfaces/get_node_timers_interface.hpp"
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#include "rclcpp/node_interfaces/node_base_interface.hpp"
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#include "rclcpp/node_interfaces/node_timers_interface.hpp"
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namespace rclcpp
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{
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/// Create a timer with a given clock
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/// \internal
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template<typename CallbackT>
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typename rclcpp::TimerBase::SharedPtr
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create_timer(
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node_interfaces::NodeBaseInterface * node_base,
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node_interfaces::NodeTimersInterface * node_timers,
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rclcpp::Clock::SharedPtr clock,
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rclcpp::Duration period,
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CallbackT && callback,
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rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
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{
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auto timer = rclcpp::GenericTimer<CallbackT>::make_shared(
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clock,
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period.to_chrono<std::chrono::nanoseconds>(),
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std::forward<CallbackT>(callback),
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node_base->get_context());
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node_timers->add_timer(timer, group);
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return timer;
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}
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/// Create a timer with a given clock
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template<typename NodeT, typename CallbackT>
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typename rclcpp::TimerBase::SharedPtr
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create_timer(
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NodeT node,
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rclcpp::Clock::SharedPtr clock,
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rclcpp::Duration period,
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CallbackT && callback,
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rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
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{
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return create_timer(
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rclcpp::node_interfaces::get_node_base_interface(node),
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rclcpp::node_interfaces::get_node_timers_interface(node),
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clock,
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period,
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std::forward<CallbackT>(callback),
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group);
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}
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} // namespace rclcpp
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#endif // RCLCPP__CREATE_TIMER_HPP_
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_
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#define RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_
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#include <memory>
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#include <utility>
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#include <type_traits>
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#include "rclcpp/node_interfaces/node_base_interface.hpp"
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/// This header provides the get_node_base_interface() template function.
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/**
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* This function is useful for getting the NodeBaseInterface pointer from
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* various kinds of Node-like classes.
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*
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* It's able to get the NodeBaseInterface pointer so long as the class
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* has a method called ``get_node_base_interface()`` which returns
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* either a pointer (const or not) to a NodeBaseInterface or a
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* std::shared_ptr to a NodeBaseInterface.
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*/
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namespace rclcpp
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{
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namespace node_interfaces
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{
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namespace detail
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{
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// This is a meta-programming checker for if a given Node-like object has a
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// getter called get_node_base_interface() which returns various types,
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// e.g. const pointer or a shared pointer.
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template<typename NodeType, typename ReturnType>
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struct has_get_node_base_interface
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{
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private:
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template<typename T>
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static constexpr
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auto
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check(T *)->typename std::is_same<
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decltype(std::declval<T>().get_node_base_interface()),
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ReturnType
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>::type;
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template<typename>
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static constexpr
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std::false_type
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check(...);
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public:
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using type = decltype(check<NodeType>(nullptr));
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static constexpr bool value = type::value;
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};
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// If NodeType is a pointer to NodeBaseInterface already (just normal function overload).
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inline
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface_from_pointer(rclcpp::node_interfaces::NodeBaseInterface * pointer)
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{
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return pointer;
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}
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// If NodeType has a method called get_node_base_interface() which returns a shared pointer.
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template<
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typename NodeType,
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typename std::enable_if<has_get_node_base_interface<
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typename std::remove_pointer<NodeType>::type,
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std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface_from_pointer(NodeType node_pointer)
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{
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return node_pointer->get_node_base_interface().get();
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}
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// If NodeType has a method called get_node_base_interface() which returns a pointer.
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template<
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typename NodeType,
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typename std::enable_if<has_get_node_base_interface<
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typename std::remove_pointer<NodeType>::type,
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rclcpp::node_interfaces::NodeBaseInterface *
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface_from_pointer(NodeType node_pointer)
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{
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return node_pointer->get_node_base_interface();
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}
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// Forward shared_ptr's to const node pointer signatures.
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template<
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typename NodeType,
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typename std::enable_if<std::is_same<
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NodeType,
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typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface_from_pointer(NodeType node_shared_pointer)
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{
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return get_node_base_interface_from_pointer(node_shared_pointer->get());
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}
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} // namespace detail
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/// Get the NodeBaseInterface as a pointer from a pointer to a "Node like" object.
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template<
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typename NodeType,
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typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface(NodeType && node_pointer)
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{
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// Forward pointers to detail implmentation directly.
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return detail::get_node_base_interface_from_pointer(std::forward<NodeType>(node_pointer));
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}
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/// Get the NodeBaseInterface as a pointer from a "Node like" object.
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template<
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typename NodeType,
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typename std::enable_if<!std::is_pointer<NodeType>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeBaseInterface *
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get_node_base_interface(NodeType && node_reference)
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{
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// Forward references to detail implmentation as a pointer.
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return detail::get_node_base_interface_from_pointer(&node_reference);
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}
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} // namespace node_interfaces
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} // namespace rclcpp
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#endif // RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_
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@ -0,0 +1,147 @@
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_
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#define RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_
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#include <memory>
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#include <utility>
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#include <type_traits>
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#include "rclcpp/node_interfaces/node_timers_interface.hpp"
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/// This header provides the get_node_timers_interface() template function.
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/**
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* This function is useful for getting the NodeTimersInterface pointer from
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* various kinds of Node-like classes.
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*
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* It's able to get the NodeTimersInterface pointer so long as the class
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* has a method called ``get_node_timers_interface()`` which returns
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* either a pointer (const or not) to a NodeTimersInterface or a
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* std::shared_ptr to a NodeTimersInterface.
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*/
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namespace rclcpp
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{
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namespace node_interfaces
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{
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namespace detail
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{
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// This is a meta-programming checker for if a given Node-like object has a
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// getter called get_node_timers_interface() which returns various types,
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// e.g. const pointer or a shared pointer.
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template<typename NodeType, typename ReturnType>
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struct has_get_node_timers_interface
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{
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private:
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template<typename T>
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static constexpr
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auto
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check(T *)->typename std::is_same<
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decltype(std::declval<T>().get_node_timers_interface()),
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ReturnType
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>::type;
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template<typename>
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static constexpr
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std::false_type
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check(...);
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public:
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using type = decltype(check<NodeType>(nullptr));
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static constexpr bool value = type::value;
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};
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// If NodeType is a pointer to NodeTimersInterface already (just normal function overload).
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inline
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface_from_pointer(rclcpp::node_interfaces::NodeTimersInterface * pointer)
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{
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return pointer;
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}
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// If NodeType has a method called get_node_timers_interface() which returns a shared pointer.
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template<
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typename NodeType,
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typename std::enable_if<has_get_node_timers_interface<
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typename std::remove_pointer<NodeType>::type,
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std::shared_ptr<rclcpp::node_interfaces::NodeTimersInterface>
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface_from_pointer(NodeType node_pointer)
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{
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return node_pointer->get_node_timers_interface().get();
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}
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// If NodeType has a method called get_node_timers_interface() which returns a pointer.
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template<
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typename NodeType,
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typename std::enable_if<has_get_node_timers_interface<
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typename std::remove_pointer<NodeType>::type,
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rclcpp::node_interfaces::NodeTimersInterface *
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface_from_pointer(NodeType node_pointer)
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{
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return node_pointer->get_node_timers_interface();
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}
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// Forward shared_ptr's to const node pointer signatures.
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template<
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typename NodeType,
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typename std::enable_if<std::is_same<
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NodeType,
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typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
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>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface_from_pointer(NodeType node_shared_pointer)
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{
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return get_node_timers_interface_from_pointer(node_shared_pointer->get());
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}
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} // namespace detail
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/// Get the NodeTimersInterface as a pointer from a pointer to a "Node like" object.
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template<
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typename NodeType,
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typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface(NodeType && node_pointer)
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{
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// Forward pointers to detail implmentation directly.
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return detail::get_node_timers_interface_from_pointer(std::forward<NodeType>(node_pointer));
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}
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/// Get the NodeTimersInterface as a pointer from a "Node like" object.
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template<
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typename NodeType,
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typename std::enable_if<!std::is_pointer<NodeType>::value, int>::type = 0
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>
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rclcpp::node_interfaces::NodeTimersInterface *
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get_node_timers_interface(NodeType && node_reference)
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{
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// Forward references to detail implmentation as a pointer.
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return detail::get_node_timers_interface_from_pointer(&node_reference);
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}
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} // namespace node_interfaces
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} // namespace rclcpp
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#endif // RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_
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63
rclcpp/test/test_create_timer.cpp
Normal file
63
rclcpp/test/test_create_timer.cpp
Normal file
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@ -0,0 +1,63 @@
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
|
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// You may obtain a copy of the License at
|
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//
|
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// http://www.apache.org/licenses/LICENSE-2.0
|
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//
|
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// 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.
|
||||
|
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#include <gtest/gtest.h>
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#include <atomic>
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#include <chrono>
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#include <memory>
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#include "rclcpp/create_timer.hpp"
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#include "rclcpp/executors.hpp"
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#include "rclcpp/node.hpp"
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#include "node_interfaces/node_wrapper.hpp"
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using namespace std::chrono_literals;
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TEST(TestCreateTimer, timer_executes)
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{
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rclcpp::init(0, nullptr);
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auto node = std::make_shared<rclcpp::Node>("test_create_timer_node");
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std::atomic<bool> got_callback{false};
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rclcpp::TimerBase::SharedPtr timer;
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timer = rclcpp::create_timer(
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node,
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node->get_clock(),
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rclcpp::Duration(0ms),
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[&got_callback, &timer]() {
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got_callback = true;
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timer->cancel();
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});
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rclcpp::spin_some(node);
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ASSERT_TRUE(got_callback);
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rclcpp::shutdown();
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}
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TEST(TestCreateTimer, call_with_node_wrapper_compiles)
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{
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rclcpp::init(0, nullptr);
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NodeWrapper node("test_create_timer_call_with_node_wrapper_compiles");
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rclcpp::TimerBase::SharedPtr timer;
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timer = rclcpp::create_timer(
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node,
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node.get_node_clock_interface()->get_clock(),
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rclcpp::Duration(0ms),
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[]() {});
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rclcpp::shutdown();
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}
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