Struct TimerCallInfo 

#[repr(C)]
pub struct TimerCallInfo {
    pub expected_call_time: i64,
    pub actual_call_time: i64,
    pub clock: TimerClockSource,
    pub since_last_call_ns: i64,
}

When a timer activation was DUE and when it actually RAN — issue 1974, the Jazzy rcl_timer_call_info_t / rclcpp::TimerInfo pair.

Both are nanoseconds on the TIMER’S OWN clock (the TimerClockSource it was registered with, which Executor::timer_clock_source reports): /clock time for a Ros timer, the wall clock for System, the platform’s monotonic clock for Steady.

There is ONE producer: the executor’s timer dispatcher fills this in at the moment it decides the activation is due, from the same elapsed_us / period_us comparison that decides it, and hands it by reference to the callback. The C (rcl_timer_call_info_t) and C++ (rclcpp::TimerInfo) surfaces copy these two numbers; neither computes its own.

• actual_call_time — the timer’s clock as read for this dispatch.
• expected_call_time — actual_call_time minus how far elapsed_us had run past the period, i.e. the deadline the dispatcher was serving. Under TimerOverrunPolicy::CatchUp each replayed activation reports its own (earlier) deadline.

actual_call_time >= expected_call_time always holds: an activation is dispatched only once elapsed_us >= period_us, so the difference — the activation’s lateness, Self::lateness_ns — is never negative.

Copy, a few words, no allocation: it lives on the dispatcher’s stack for the duration of the callback.

Fields

expected_call_time: i64

The deadline this activation was serving, in nanoseconds on the timer’s clock.

actual_call_time: i64

When the dispatcher ran the callback, in nanoseconds on the timer’s clock.

clock: TimerClockSource

WHICH clock both times are on — the timer’s registered source, so a consumer that wraps the numbers in a typed time (C++’s rclcpp::Time(ns, clock_type)) needs no second lookup.

since_last_call_ns: i64

Nanoseconds since the previous activation, or since registration or the last reset for the first one — the argument rcl’s rcl_timer_callback_t receives (phase-515 C1). It is the dispatcher’s elapsed_us at the moment the activation became due, so it reads the same as Executor::timer_elapsed_us just before the call, at the same microsecond resolution (issue #505). Measured from the previous DUE POINT, which for a timer running on time is the previous call.

Implementations

impl TimerCallInfo

pub const fn lateness_ns(&self) -> i64

actual_call_time - expected_call_time: how late this activation ran. Never negative (see the type’s docs).

Trait Implementations

impl Clone for TimerCallInfo

fn clone(&self) -> TimerCallInfo

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for TimerCallInfo

impl Debug for TimerCallInfo

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for TimerCallInfo

fn default() -> TimerCallInfo

Returns the “default value” for a type.

impl Eq for TimerCallInfo

impl PartialEq for TimerCallInfo

fn eq(&self, other: &TimerCallInfo) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for TimerCallInfo