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Timer uses ROS time by default #419

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Merged
sloretz merged 1 commit into from
Sep 13, 2019
Merged

Timer uses ROS time by default #419

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10 changes: 7 additions & 3 deletions rclpy/rclpy/executors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,8 @@


from rclpy.client import Client
from rclpy.clock import Clock
from rclpy.clock import ClockType
from rclpy.context import Context
from rclpy.guard_condition import GuardCondition
from rclpy.handle import InvalidHandle
Expand All @@ -43,7 +45,7 @@
from rclpy.subscription import Subscription
from rclpy.task import Future
from rclpy.task import Task
from rclpy.timer import WallTimer
from rclpy.timer import Timer
from rclpy.utilities import get_default_context
from rclpy.utilities import timeout_sec_to_nsec
from rclpy.waitable import NumberOfEntities
Expand Down Expand Up @@ -168,6 +170,8 @@ def __init__(self, *, context: Context = None) -> None:
self._cb_iter = None
self._last_args = None
self._last_kwargs = None
# Executor cannot use ROS clock because that requires a node
self._clock = Clock(clock_type=ClockType.STEADY_TIME)
self._sigint_gc = SignalHandlerGuardCondition(context)
self._context.on_shutdown(self.wake)

Expand Down Expand Up @@ -437,7 +441,7 @@ def _wait_for_ready_callbacks(
timeout_timer = None
timeout_nsec = timeout_sec_to_nsec(timeout_sec)
if timeout_nsec > 0:
timeout_timer = WallTimer(None, None, timeout_nsec)
timeout_timer = Timer(None, None, timeout_nsec, self._clock)

yielded_work = False
while not yielded_work and not self._is_shutdown:
Expand All @@ -463,7 +467,7 @@ def _wait_for_ready_callbacks(
# Gather entities that can be waited on
subscriptions: List[Subscription] = []
guards: List[GuardCondition] = []
timers: List[WallTimer] = []
timers: List[Timer] = []
clients: List[Client] = []
services: List[Service] = []
waitables: List[Waitable] = []
Expand Down
18 changes: 11 additions & 7 deletions rclpy/rclpy/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@
from rclpy.service import Service
from rclpy.subscription import Subscription
from rclpy.time_source import TimeSource
from rclpy.timer import WallTimer
from rclpy.timer import Timer
from rclpy.type_support import check_for_type_support
from rclpy.utilities import get_default_context
from rclpy.validate_full_topic_name import validate_full_topic_name
Expand Down Expand Up @@ -137,7 +137,7 @@ def __init__(
self.__subscriptions: List[Subscription] = []
self.__clients: List[Client] = []
self.__services: List[Service] = []
self.__timers: List[WallTimer] = []
self.__timers: List[Timer] = []
self.__guards: List[GuardCondition] = []
self.__waitables: List[Waitable] = []
self._default_callback_group = MutuallyExclusiveCallbackGroup()
Expand Down Expand Up @@ -214,7 +214,7 @@ def services(self) -> Iterator[Service]:
yield from self.__services

@property
def timers(self) -> Iterator[WallTimer]:
def timers(self) -> Iterator[Timer]:
"""Get timers that have been created on this node."""
yield from self.__timers

Expand Down Expand Up @@ -1281,8 +1281,9 @@ def create_timer(
self,
timer_period_sec: float,
callback: Callable,
callback_group: CallbackGroup = None
) -> WallTimer:
callback_group: CallbackGroup = None,
clock: Clock = None,
) -> Timer:
"""
Create a new timer.

Expand All @@ -1293,11 +1294,14 @@ def create_timer(
:param callback: A user-defined callback function that is called when the timer expires.
:param callback_group: The callback group for the timer. If ``None``, then the nodes
default callback group is used.
:param clock: The clock which the timer gets time from.
"""
timer_period_nsec = int(float(timer_period_sec) * S_TO_NS)
if callback_group is None:
callback_group = self.default_callback_group
timer = WallTimer(callback, callback_group, timer_period_nsec, context=self.context)
if clock is None:
clock = self._clock
timer = Timer(callback, callback_group, timer_period_nsec, clock, context=self.context)
timer.handle.requires(self.handle)

self.__timers.append(timer)
Expand Down Expand Up @@ -1385,7 +1389,7 @@ def destroy_service(self, service: Service) -> bool:
return True
return False

def destroy_timer(self, timer: WallTimer) -> bool:
def destroy_timer(self, timer: Timer) -> bool:
"""
Destroy a timer created by the node.

Expand Down
10 changes: 3 additions & 7 deletions rclpy/rclpy/timer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,20 +12,16 @@
# See the License for the specific language governing permissions and
# limitations under the License.

from rclpy.clock import Clock
from rclpy.clock import ClockType
from rclpy.handle import Handle
from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
from rclpy.utilities import get_default_context


# TODO(mikaelarguedas) create a Timer or ROSTimer once we can specify custom time sources
class WallTimer:
class Timer:

def __init__(self, callback, callback_group, timer_period_ns, *, context=None):
def __init__(self, callback, callback_group, timer_period_ns, clock, *, 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)
self._clock = clock
with self._clock.handle as clock_capsule:
self.__handle = Handle(_rclpy.rclpy_create_timer(
clock_capsule, self._context.handle, timer_period_ns))
Expand Down