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Merge pull request #188 from ros2/move_callback_timer

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Use move semantics to store callback and perfect forwarding to pass it down to GenericTimer
This commit is contained in:
Esteve Fernandez 2015-12-17 15:59:23 -08:00
commit c878e966e3
3 changed files with 4 additions and 4 deletions
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2
rclcpp/include/rclcpp/node.hpp
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@ -175,7 +175,7 @@ public:
typename rclcpp::timer::WallTimer<CallbackType>::SharedPtr typename rclcpp::timer::WallTimer<CallbackType>::SharedPtr
create_wall_timer( create_wall_timer(
std::chrono::nanoseconds period, std::chrono::nanoseconds period,
CallbackType && callback, CallbackType callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr); rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
/// Create a timer. /// Create a timer.

4
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -274,11 +274,11 @@ template<typename CallbackType>
typename rclcpp::timer::WallTimer<CallbackType>::SharedPtr typename rclcpp::timer::WallTimer<CallbackType>::SharedPtr
Node::create_wall_timer( Node::create_wall_timer(
std::chrono::nanoseconds period, std::chrono::nanoseconds period,
CallbackType && callback, CallbackType callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group) rclcpp::callback_group::CallbackGroup::SharedPtr group)
{ {
auto timer = rclcpp::timer::WallTimer<CallbackType>::make_shared( auto timer = rclcpp::timer::WallTimer<CallbackType>::make_shared(
period, std::forward<CallbackType>(callback)); period, std::move(callback));
if (group) { if (group) {
if (!group_in_node(group)) { if (!group_in_node(group)) {
// TODO(jacquelinekay): use custom exception // TODO(jacquelinekay): use custom exception

2
rclcpp/include/rclcpp/timer.hpp
View file

@ -101,7 +101,7 @@ public:
* \param[in] callback User-specified callback function. * \param[in] callback User-specified callback function.
*/ */
GenericTimer(std::chrono::nanoseconds period, FunctorT && callback) GenericTimer(std::chrono::nanoseconds period, FunctorT && callback)
: TimerBase(period), callback_(callback), loop_rate_(period) : TimerBase(period), callback_(std::forward<FunctorT>(callback)), loop_rate_(period)
{ {
/* Set last_triggered_time_ so that the timer fires at least one period after being created. */ /* Set last_triggered_time_ so that the timer fires at least one period after being created. */
last_triggered_time_ = Clock::now(); last_triggered_time_ = Clock::now();