-
Notifications
You must be signed in to change notification settings - Fork 427
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Make Rate to select the clock to work with (#2123)
* Make Rate to select the clock to work with Add ROSRate respective with ROS time * Make GenericRate class to be deprecated * Adjust test cases for new rates is_steady() to be deprecated Signed-off-by: Alexey Merzlyakov <[email protected]> Co-authored-by: Chris Lalancette <[email protected]>
- Loading branch information
1 parent
43cf0be
commit bc43577
Showing
4 changed files
with
512 additions
and
14 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,112 @@ | ||
| // Copyright 2023 Open Source Robotics Foundation, 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 "rclcpp/rate.hpp" | ||
|
|
||
| #include <stdexcept> | ||
|
|
||
| namespace rclcpp | ||
| { | ||
|
|
||
| Rate::Rate( | ||
| const double rate, Clock::SharedPtr clock) | ||
| : clock_(clock), period_(0, 0), last_interval_(clock_->now()) | ||
| { | ||
| if (rate <= 0.0) { | ||
| throw std::invalid_argument{"rate must be greater than 0"}; | ||
| } | ||
| period_ = Duration::from_seconds(1.0 / rate); | ||
| } | ||
|
|
||
| Rate::Rate( | ||
| const Duration & period, Clock::SharedPtr clock) | ||
| : clock_(clock), period_(period), last_interval_(clock_->now()) | ||
| { | ||
| if (period <= Duration(0, 0)) { | ||
| throw std::invalid_argument{"period must be greater than 0"}; | ||
| } | ||
| } | ||
|
|
||
| bool | ||
| Rate::sleep() | ||
| { | ||
| // Time coming into sleep | ||
| auto now = clock_->now(); | ||
| // Time of next interval | ||
| auto next_interval = last_interval_ + period_; | ||
| // Detect backwards time flow | ||
| if (now < last_interval_) { | ||
| // Best thing to do is to set the next_interval to now + period | ||
| next_interval = now + period_; | ||
| } | ||
| // Update the interval | ||
| last_interval_ += period_; | ||
| // If the time_to_sleep is negative or zero, don't sleep | ||
| if (next_interval <= now) { | ||
| // If an entire cycle was missed then reset next interval. | ||
| // This might happen if the loop took more than a cycle. | ||
| // Or if time jumps forward. | ||
| if (now > next_interval + period_) { | ||
| last_interval_ = now + period_; | ||
| } | ||
| // Either way do not sleep and return false | ||
| return false; | ||
| } | ||
| // Calculate the time to sleep | ||
| auto time_to_sleep = next_interval - now; | ||
| // Sleep (will get interrupted by ctrl-c, may not sleep full time) | ||
| return clock_->sleep_for(time_to_sleep); | ||
| } | ||
|
|
||
| bool | ||
| Rate::is_steady() const | ||
| { | ||
| return clock_->get_clock_type() == RCL_STEADY_TIME; | ||
| } | ||
|
|
||
| rcl_clock_type_t | ||
| Rate::get_type() const | ||
| { | ||
| return clock_->get_clock_type(); | ||
| } | ||
|
|
||
| void | ||
| Rate::reset() | ||
| { | ||
| last_interval_ = clock_->now(); | ||
| } | ||
|
|
||
| Duration | ||
| Rate::period() const | ||
| { | ||
| return period_; | ||
| } | ||
|
|
||
| WallRate::WallRate(const double rate) | ||
| : Rate(rate, std::make_shared<Clock>(RCL_STEADY_TIME)) | ||
| {} | ||
|
|
||
| WallRate::WallRate(const Duration & period) | ||
| : Rate(period, std::make_shared<Clock>(RCL_STEADY_TIME)) | ||
| {} | ||
|
|
||
| ROSRate::ROSRate(const double rate) | ||
| : Rate(rate, std::make_shared<Clock>(RCL_ROS_TIME)) | ||
| {} | ||
|
|
||
| ROSRate::ROSRate(const Duration & period) | ||
| : Rate(period, std::make_shared<Clock>(RCL_ROS_TIME)) | ||
| {} | ||
|
|
||
| } // namespace rclcpp |
Oops, something went wrong.