timer_client.cpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// 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.
 
#include <ros_timer_client/cl_ros_timer.hpp>
 
namespace cl_ros_timer
{
ClRosTimer::ClRosTimer(rclcpp::Duration duration, bool oneshot)
: duration_(duration), oneshot_(oneshot)
{
}
 
ClRosTimer::~ClRosTimer() { timer_->cancel(); }
 
void ClRosTimer::onInitialize()
{
  auto clock = this->getNode()->get_clock();
 
  timer_ = rclcpp::create_timer(
    this->getNode(), clock, duration_, std::bind(&ClRosTimer::timerCallback, this));
}
 
void ClRosTimer::timerCallback()
{
  if (!onTimerTick_.empty())
  {
    this->onTimerTick_();
  }
  postTimerEvent_();
 
  if (oneshot_)
  {
    this->timer_->cancel();
  }
}
 
}  // namespace cl_ros_timer