20255001676

Committed 16 Dec 2025 03:01AM UTC coverage: 80.485% (-0.1%) from 80.602%

Build # 20255001676

Build Type

push

github

Committed by

web-flow

Commit Message

Add rcl_timer_set_on_reset_callback() support (#1348)

This PR adds support for the ROS 2 `rcl_timer_set_on_reset_callback()` API to rclnodejs, enabling users to register callbacks that are invoked when a timer is reset. The implementation provides both JavaScript and TypeScript APIs with corresponding native C++ bindings.

**Key Changes:**
- Added `setOnResetCallback()` and `clearOnResetCallback()` methods to the Timer class
- Implemented native C++ bindings using ThreadSafeFunction for cross-thread callback invocation
- Added comprehensive test coverage for the new callback functionality

Fix: #1330

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73.53

/lib/timer.js

// Copyright (c) 2017 Intel Corporation. All rights reserved.
//
// 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.

'use strict';

const rclnodejs = require('./native_loader.js');
const DistroUtils = require('./distro.js');

/**
 * @class - Class representing a Timer in ROS
 * @hideconstructor
 */

class Timer {
  constructor(handle, period, callback) {
    this._handle = handle;
    this._period = period;
    this.callback = callback;
  }

  /**
   * @type {bigint} - The period of the timer in nanoseconds.
   */
  get period() {
    return this._period;
  }

  get handle() {
    return this._handle;
  }

  /**
   * Check if the timer is ready.
   * @return {boolean} Return true if timer is ready, otherwise return false.
   */
  isReady() {
    return rclnodejs.isTimerReady(this._handle);
  }

  /**
   * Check if the timer is canceled.
   * @return {boolean} Return true if timer is canceled, otherwise return false.
   */
  isCanceled() {
    return rclnodejs.isTimerCanceled(this._handle);
  }

  /**
   * Cancel the timer.
   * @return {undefined}
   */
  cancel() {
    rclnodejs.cancelTimer(this._handle);
  }

  /**
   * Reset the timer.
   * @return {undefined}
   */
  reset() {
    rclnodejs.resetTimer(this._handle);
  }

  /**
   * Get the interval since the last call of this timer.
   * @return {bigint} - the interval value in nanoseconds.
   */
  timeSinceLastCall() {
    return rclnodejs.timerGetTimeSinceLastCall(this._handle);
  }

  /**
   * Get the interval until the next call will happen.
   * @return {bigint} - the interval value in nanoseconds.
   */
  timeUntilNextCall() {
    return rclnodejs.timerGetTimeUntilNextCall(this._handle);
  }

  /**
   * Change the timer period.
   * @param {bigint} period - The new period in nanoseconds.
   * @return {undefined}
   */
  changeTimerPeriod(period) {
    rclnodejs.changeTimerPeriod(this._handle, period);
  }

  /**
   * Get the timer period.
   * @return {bigint} - The period in nanoseconds.
   */
  get timerPeriod() {
    return rclnodejs.getTimerPeriod(this._handle);
  }

  /**
   * Set the on reset callback.
   * @param {function} callback - The callback to be called when the timer is reset.
   * @return {undefined}
   */
  setOnResetCallback(callback) {
    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
      console.warn(
        'setOnResetCallback is not supported by this version of ROS 2'
      );
      return;
    }
    rclnodejs.setTimerOnResetCallback(this._handle, callback);
  }

  /**
   * Clear the on reset callback.
   * @return {undefined}
   */
  clearOnResetCallback() {
    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
      console.warn(
        'clearOnResetCallback is not supported by this version of ROS 2'
      );
      return;
    }
    rclnodejs.clearTimerOnResetCallback(this._handle);
  }

  /**
   * Call a timer and starts counting again, retrieves actual and expected call time.
   * @return {object} - The timer information.
   */
  callTimerWithInfo() {
    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
      console.warn(
        'callTimerWithInfo is not supported by this version of ROS 2'
      );
      return;
    }
    return rclnodejs.callTimerWithInfo(this._handle);
  }
}

module.exports = Timer;

1	// Copyright (c) 2017 Intel Corporation. All rights reserved.
2	//
3	// Licensed under the Apache License, Version 2.0 (the "License");
4	// you may not use this file except in compliance with the License.
5	// You may obtain a copy of the License at
6	//
7	// http://www.apache.org/licenses/LICENSE-2.0
8	//
9	// Unless required by applicable law or agreed to in writing, software
10	// distributed under the License is distributed on an "AS IS" BASIS,
11	// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12	// See the License for the specific language governing permissions and
13	// limitations under the License.
14
15	'use strict';
16
17	const rclnodejs = require('./native_loader.js');	26✔
18	const DistroUtils = require('./distro.js');	26✔
19
20	/**
21	* @class - Class representing a Timer in ROS
22	* @hideconstructor
23	*/
24
25	class Timer {
26	constructor(handle, period, callback) {
27	this._handle = handle;	59✔
28	this._period = period;	59✔
29	this.callback = callback;	59✔
30	}
31
32	/**
33	* @type {bigint} - The period of the timer in nanoseconds.
34	*/
35	get period() {
36	return this._period;	3✔
37	}
38
39	get handle() {
40	return this._handle;	9,274✔
41	}
42
43	/**
44	* Check if the timer is ready.
45	* @return {boolean} Return true if timer is ready, otherwise return false.
46	*/
47	isReady() {
48	return rclnodejs.isTimerReady(this._handle);	4,675✔
49	}
50
51	/**
52	* Check if the timer is canceled.
53	* @return {boolean} Return true if timer is canceled, otherwise return false.
54	*/
55	isCanceled() {
56	return rclnodejs.isTimerCanceled(this._handle);	3,008✔
57	}
58
59	/**
60	* Cancel the timer.
61	* @return {undefined}
62	*/
63	cancel() {
64	rclnodejs.cancelTimer(this._handle);	48✔
65	}
66
67	/**
68	* Reset the timer.
69	* @return {undefined}
70	*/
71	reset() {
72	rclnodejs.resetTimer(this._handle);	3✔
73	}
74
75	/**
76	* Get the interval since the last call of this timer.
77	* @return {bigint} - the interval value in nanoseconds.
78	*/
79	timeSinceLastCall() {
80	return rclnodejs.timerGetTimeSinceLastCall(this._handle);	1✔
81	}
82
83	/**
84	* Get the interval until the next call will happen.
85	* @return {bigint} - the interval value in nanoseconds.
86	*/
87	timeUntilNextCall() {
88	return rclnodejs.timerGetTimeUntilNextCall(this._handle);	1✔
89	}
90
91	/**
92	* Change the timer period.
93	* @param {bigint} period - The new period in nanoseconds.
94	* @return {undefined}
95	*/
96	changeTimerPeriod(period) {
97	rclnodejs.changeTimerPeriod(this._handle, period);	1✔
98	}
99
100	/**
101	* Get the timer period.
102	* @return {bigint} - The period in nanoseconds.
103	*/
104	get timerPeriod() {
105	return rclnodejs.getTimerPeriod(this._handle);	2✔
106	}
107
108	/**
109	* Set the on reset callback.
110	* @param {function} callback - The callback to be called when the timer is reset.
111	* @return {undefined}
112	*/
113	setOnResetCallback(callback) {
114	if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {	2!
NEW 115	console.warn(	×
116	'setOnResetCallback is not supported by this version of ROS 2'
117	);
NEW 118	return;	×
119	}
120	rclnodejs.setTimerOnResetCallback(this._handle, callback);	2✔
121	}
122
123	/**
124	* Clear the on reset callback.
125	* @return {undefined}
126	*/
127	clearOnResetCallback() {
128	if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {	1!
NEW 129	console.warn(	×
130	'clearOnResetCallback is not supported by this version of ROS 2'
131	);
NEW 132	return;	×
133	}
134	rclnodejs.clearTimerOnResetCallback(this._handle);	1✔
135	}
136
137	/**
138	* Call a timer and starts counting again, retrieves actual and expected call time.
139	* @return {object} - The timer information.
140	*/
141	callTimerWithInfo() {
142	if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {	1!
143	console.warn(	×
144	'callTimerWithInfo is not supported by this version of ROS 2'
145	);
146	return;	×
147	}
148	return rclnodejs.callTimerWithInfo(this._handle);	1✔
149	}
150	}
151
152	module.exports = Timer;	26✔

RobotWebTools / rclnodejs / 20255001676

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