rcl_timer_t Struct Reference

#include <nros_generated.h>

Collaboration diagram for rcl_timer_t:

Data Fields
void *	_executor
rcl_timer_callback_t	callback
const struct rcl_clock_t *	clock
size_t	handle_id
rclc_timer_callback_with_info_t	info_callback
uint64_t	period_ns
enum rclc_timer_state_t	state

Detailed Description

Timer structure.

Already an arena handle before phase-487: rclc_executor_add_timer creates the timer inside the executor arena and records (handle_id, _executor) here, and every live accessor forwards there. The period, callback and clock are the REGISTRATION INPUTS: rclc's rclc_timer_init_default(timer, support, period, callback) takes them at init, before any executor exists, and a removed timer can be added again, so they stay. phase-487 W3 removed the one field that was a copy, last_call_time_ns: written by init and reset, read by nothing, and stale for any timer the executor ran (issue 1049). phase-515 C1 removed the context pointer with the callback contract that carried it.

Field Documentation

_executor

void* rcl_timer_t::_executor

Opaque pointer to internal executor (set by rclc_executor_add_timer)

callback

rcl_timer_callback_t rcl_timer_t::callback

User callback function

clock

const struct rcl_clock_t* rcl_timer_t::clock

The clock this timer is scheduled against, or NULL for the WALL timer rclc_timer_init_default creates (phase-430 W1).

rcl's rcl_timer_init takes a rcl_clock_t * here and rcl's timer keeps it; ours does the same, in the same position, so a reader of one recognises the other. The clock must outlive the timer — the executor reads its type at rclc_executor_add_timer time, not at init.

handle_id

size_t rcl_timer_t::handle_id

Handle ID from executor registration (SIZE_MAX = not registered)

info_callback

rclc_timer_callback_with_info_t rcl_timer_t::info_callback

The call-info callback rclc_timer_init_with_info registers, or NULL (issue 1974). Exactly one of callback / info_callback is set on an initialised timer. APPENDED, so every field above keeps its offset.

period_ns

uint64_t rcl_timer_t::period_ns

Period in nanoseconds

state

enum rclc_timer_state_t rcl_timer_t::state

Current state

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The documentation for this struct was generated from the following file:

• include/rclc/detail/nros_generated.h