def create_timer(self, timer_period_sec, callback):
timer_period_nsec = int(float(timer_period_sec) * S_TO_NS)
[timer_handle, timer_pointer] = _rclpy.rclpy_create_timer(timer_period_nsec)
timer = WallTimer(timer_handle, timer_pointer, callback, timer_period_nsec)
self.timers.append(timer)
return timer
def __init__(self, callback, callback_group, timer_period_ns):
[self.timer_handle,
self.timer_pointer] = _rclpy.rclpy_create_timer(timer_period_ns)
self.timer_period_ns = timer_period_ns
self.callback = callback
self.callback_group = callback_group
# True when the callback is ready to fire but has not been "taken" by an executor
self._executor_event = False
def __init__(self, callback, callback_group, timer_period_ns):
# TODO(sloretz) Allow passing clocks in via timer constructor
self._clock = Clock(clock_type=ClockType.STEADY_TIME)
[self.timer_handle, self.timer_pointer
] = _rclpy.rclpy_create_timer(self._clock._clock_handle,
timer_period_ns)
self.timer_period_ns = timer_period_ns
self.callback = callback
self.callback_group = callback_group
# True when the callback is ready to fire but has not been "taken" by an executor
self._executor_event = False
def __init__(self, node):
super().__init__(ReentrantCallbackGroup())
self._clock = Clock(clock_type=ClockType.STEADY_TIME)
period_nanoseconds = 10000
self.timer = _rclpy.rclpy_create_timer(self._clock._clock_handle,
period_nanoseconds)[0]
self.timer_index = None
self.timer_is_ready = False
self.node = node
self.future = None
def __init__(self, node):
super().__init__(ReentrantCallbackGroup())
self._clock = Clock(clock_type=ClockType.STEADY_TIME)
period_nanoseconds = 10000
with self._clock.handle as clock_capsule, node.context.handle as context_capsule:
self.timer = _rclpy.rclpy_create_timer(clock_capsule,
context_capsule,
period_nanoseconds)
self.timer_index = None
self.timer_is_ready = False
self.node = node
self.future = None
def __init__(self,
callback,
callback_group,
timer_period_ns,
clock,
*,
context=None):
self._context = get_default_context() if context is None else context
self._clock = clock
with self._clock.handle as clock_capsule, self._context.handle as context_capsule:
self.__handle = Handle(
_rclpy.rclpy_create_timer(clock_capsule, context_capsule,
timer_period_ns))
self.timer_period_ns = timer_period_ns
self.callback = callback
self.callback_group = callback_group
# True when the callback is ready to fire but has not been "taken" by an executor
self._executor_event = False
def __init__(self,
callback,
callback_group,
timer_period_ns,
*,
context=None):
self._context = get_default_context() if context is None else context
# TODO(sloretz) Allow passing clocks in via timer constructor
self._clock = Clock(clock_type=ClockType.STEADY_TIME)
with self._clock.handle as clock_capsule:
self.__handle = Handle(
_rclpy.rclpy_create_timer(clock_capsule, self._context.handle,
timer_period_ns))
self.__handle.requires(self._clock.handle)
self.timer_period_ns = timer_period_ns
self.callback = callback
self.callback_group = callback_group
# True when the callback is ready to fire but has not been "taken" by an executor
self._executor_event = False
def __init__(self, timer_handle, timer_pointer, callback, timer_period_ns):
[self.timer_handle,
self.timer_pointer] = _rclpy.rclpy_create_timer(timer_period_ns)
self.timer_period_ns = timer_period_ns
self.callback = callback
def __init__(self, timer_handle, timer_pointer, callback, timer_period_ns):
[self.timer_handle, self.timer_pointer] = _rclpy.rclpy_create_timer(timer_period_ns)
self.timer_period_ns = timer_period_ns
self.callback = callback