bc8c71b63f
* Clock subscription callback group spins in its own thread Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * fix line length Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * fix code style divergence Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * fix code style divergence Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * Initialize only once clock_callbackgroup Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * Check if thread joinable before start a new thread Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * Cancel executor and join thread in destroy_clock_sub Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * Check if clock_thread_ is joinable before cancel executor and join Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * Add use_clock_thread as an option Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * Fix code style divergence Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * Fix code style divergence Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * Fix code style divergence Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * Add TimeSource tests Signed-off-by: anaelle-sw <anaelle.sarazin@wyca.fr> * update use_clock_thread value in function attachNode Signed-off-by: anaelle <anaelle.sarazin@wyca.fr> * join clock thread in function detachNode Signed-off-by: anaelle <anaelle.sarazin@wyca.fr> * TimeSource tests: fixes + comments + more tested cases Signed-off-by: anaelle <anaelle.sarazin@wyca.fr> * clean destroy_clock_sub() Signed-off-by: anaelle <anaelle.sarazin@wyca.fr> * flag to ensure clock_executor is cancelled Signed-off-by: anaelle <anaelle.sarazin@wyca.fr> * Always re-init clock_callback_group when creating a new clock sub Signed-off-by: anaelle <anaelle.sarazin@wyca.fr> * spin_until_future_complete() to cleanly cancel executor Signed-off-by: anaelle <anaelle.sarazin@wyca.fr> * fix tests warnings Signed-off-by: anaelle <anaelle.sarazin@wyca.fr> * fix test error: cancel clock executor Signed-off-by: anaelle <anaelle.sarazin@wyca.fr> * clean comments Signed-off-by: anaelle <anaelle.sarazin@wyca.fr> * fix precision loss Signed-off-by: anaelle <anaelle.sarazin@wyca.fr>
77 lines
2.9 KiB
C++
77 lines
2.9 KiB
C++
// Copyright 2018 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__NODE_TIME_SOURCE_HPP_
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#define RCLCPP__NODE_INTERFACES__NODE_TIME_SOURCE_HPP_
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#include "rclcpp/macros.hpp"
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#include "rclcpp/node_interfaces/node_base_interface.hpp"
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#include "rclcpp/node_interfaces/node_clock_interface.hpp"
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#include "rclcpp/node_interfaces/node_graph_interface.hpp"
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#include "rclcpp/node_interfaces/node_logging_interface.hpp"
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#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
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#include "rclcpp/node_interfaces/node_services_interface.hpp"
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#include "rclcpp/node_interfaces/node_time_source_interface.hpp"
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#include "rclcpp/node_interfaces/node_topics_interface.hpp"
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#include "rclcpp/qos.hpp"
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#include "rclcpp/time_source.hpp"
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#include "rclcpp/visibility_control.hpp"
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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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/// Implementation of the NodeTimeSource part of the Node API.
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class NodeTimeSource : public NodeTimeSourceInterface
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{
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public:
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RCLCPP_SMART_PTR_ALIASES_ONLY(NodeTimeSource)
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RCLCPP_PUBLIC
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explicit NodeTimeSource(
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
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rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
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rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
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rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
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rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
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rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock,
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rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
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const rclcpp::QoS & qos = rclcpp::RosoutQoS(),
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bool use_clock_thread = true
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);
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RCLCPP_PUBLIC
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virtual
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~NodeTimeSource();
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private:
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RCLCPP_DISABLE_COPY(NodeTimeSource)
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
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rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_;
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rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_;
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rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
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rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
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rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_;
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rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_;
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rclcpp::TimeSource time_source_;
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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__NODE_TIME_SOURCE_HPP_
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