411e748632
* 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>
64 lines
1.7 KiB
C++
64 lines
1.7 KiB
C++
// 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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#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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