C++ (Cpp) rcl_timer_cancel Examples

Example #1

File: timer.c Project: dhood/rcl

rcl_ret_t
rcl_timer_fini(rcl_timer_t * timer)
{
  if (!timer || !timer->impl) {
    return RCL_RET_OK;
  }
  // Will return either RCL_RET_OK or RCL_RET_ERROR since the timer is valid.
  rcl_ret_t result = rcl_timer_cancel(timer);
  rcl_allocator_t allocator = timer->impl->allocator;
  allocator.deallocate(timer->impl, allocator.state);
  return result;
}

Example #2

File: timer.c Project: shizhexu/rcl

rcl_ret_t
rcl_timer_init(
  rcl_timer_t * timer,
  uint64_t period,
  const rcl_timer_callback_t callback,
  rcl_allocator_t allocator)
{
  RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
  RCL_CHECK_ARGUMENT_FOR_NULL(callback, RCL_RET_INVALID_ARGUMENT);
  if (timer->impl) {
    RCL_SET_ERROR_MSG("timer already initailized, or memory was uninitialized");
    return RCL_RET_ALREADY_INIT;
  }
  rcl_steady_time_point_t now_steady;
  rcl_ret_t now_ret = rcl_steady_time_point_now(&now_steady);
  if (now_ret != RCL_RET_OK) {
    return now_ret;  // rcl error state should already be set.
  }
  rcl_timer_impl_t impl = {
    .callback = ATOMIC_VAR_INIT((uintptr_t)callback),
    .period = ATOMIC_VAR_INIT(period),
    .last_call_time = ATOMIC_VAR_INIT(now_steady.nanoseconds),
    .canceled = ATOMIC_VAR_INIT(false),
    .allocator = allocator,
  };
  RCL_CHECK_FOR_NULL_WITH_MSG(
    allocator.allocate, "allocate not set", return RCL_RET_INVALID_ARGUMENT);
  RCL_CHECK_FOR_NULL_WITH_MSG(
    allocator.deallocate, "deallocate not set", return RCL_RET_INVALID_ARGUMENT);
  timer->impl = (rcl_timer_impl_t *)allocator.allocate(sizeof(rcl_timer_impl_t), allocator.state);
  RCL_CHECK_FOR_NULL_WITH_MSG(timer->impl, "allocating memory failed", return RCL_RET_BAD_ALLOC);
  *timer->impl = impl;
  return RCL_RET_OK;
}

rcl_ret_t
rcl_timer_fini(rcl_timer_t * timer)
{
  if (!timer || !timer->impl) {
    return RCL_RET_OK;
  }
  // Will return either RCL_RET_OK or RCL_RET_ERROR since the timer is valid.
  rcl_ret_t result = rcl_timer_cancel(timer);
  rcl_allocator_t allocator = timer->impl->allocator;
  allocator.deallocate(timer->impl, allocator.state);
  return result;
}

rcl_ret_t
rcl_timer_call(rcl_timer_t * timer)
{
  RCL_CHECK_ARGUMENT_FOR_NULL(timer, RCL_RET_INVALID_ARGUMENT);
  RCL_CHECK_FOR_NULL_WITH_MSG(timer->impl, "timer is invalid", return RCL_RET_TIMER_INVALID);
  if (rcl_atomic_load_bool(&timer->impl->canceled)) {
    RCL_SET_ERROR_MSG("timer is canceled");
    return RCL_RET_TIMER_CANCELED;
  }
  rcl_steady_time_point_t now_steady;
  rcl_ret_t now_ret = rcl_steady_time_point_now(&now_steady);
  if (now_ret != RCL_RET_OK) {
    return now_ret;  // rcl error state should already be set.
  }
  uint64_t previous_ns =
    rcl_atomic_exchange_uint64_t(&timer->impl->last_call_time, now_steady.nanoseconds);
  uint64_t since_last_call = now_steady.nanoseconds - previous_ns;
  rcl_timer_callback_t typed_callback =
    (rcl_timer_callback_t)rcl_atomic_load_uintptr_t(&timer->impl->callback);
  typed_callback(timer, since_last_call);
  return RCL_RET_OK;
}