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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]>
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| // 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. | ||
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| #include "rclcpp/rate.hpp" | ||
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| #include <stdexcept> | ||
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| namespace rclcpp | ||
| { | ||
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| 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); | ||
| } | ||
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| 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"}; | ||
| } | ||
| } | ||
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| 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); | ||
| } | ||
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| bool | ||
| Rate::is_steady() const | ||
| { | ||
| return clock_->get_clock_type() == RCL_STEADY_TIME; | ||
| } | ||
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| rcl_clock_type_t | ||
| Rate::get_type() const | ||
| { | ||
| return clock_->get_clock_type(); | ||
| } | ||
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| void | ||
| Rate::reset() | ||
| { | ||
| last_interval_ = clock_->now(); | ||
| } | ||
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| Duration | ||
| Rate::period() const | ||
| { | ||
| return period_; | ||
| } | ||
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| WallRate::WallRate(const double rate) | ||
| : Rate(rate, std::make_shared<Clock>(RCL_STEADY_TIME)) | ||
| {} | ||
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| WallRate::WallRate(const Duration & period) | ||
| : Rate(period, std::make_shared<Clock>(RCL_STEADY_TIME)) | ||
| {} | ||
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| ROSRate::ROSRate(const double rate) | ||
| : Rate(rate, std::make_shared<Clock>(RCL_ROS_TIME)) | ||
| {} | ||
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| ROSRate::ROSRate(const Duration & period) | ||
| : Rate(period, std::make_shared<Clock>(RCL_ROS_TIME)) | ||
| {} | ||
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| } // namespace rclcpp |
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