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RobotWebTools / rclnodejs / 20293360292

17 Dec 2025 06:05AM UTC coverage: 80.44% (-0.05%) from 80.485%
20293360292

Pull #1354

github

web-flow
Merge cc951c604 into 4a1b0db25
Pull Request #1354: Add ClockEvent support

1241 of 1720 branches covered (72.15%)

Branch coverage included in aggregate %.

17 of 18 new or added lines in 2 files covered. (94.44%)

13 existing lines in 2 files now uncovered.

2674 of 3147 relevant lines covered (84.97%)

452.62 hits per line

Source File
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71.79
/lib/timer.js
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// Copyright (c) 2017 Intel Corporation. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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//     http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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'use strict';
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const rclnodejs = require('./native_loader.js');
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const DistroUtils = require('./distro.js');
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/**
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 * @class - Class representing a Timer in ROS
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 * @hideconstructor
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 */
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class Timer {
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  constructor(handle, period, callback) {
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    this._handle = handle;
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    this._period = period;
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    this.callback = callback;
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  }
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  /**
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   * @type {bigint} - The period of the timer in nanoseconds.
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   */
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  get period() {
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    return this._period;
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  }
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  get handle() {
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    return this._handle;
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  }
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  /**
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   * Check if the timer is ready.
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   * @return {boolean} Return true if timer is ready, otherwise return false.
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   */
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  isReady() {
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    return rclnodejs.isTimerReady(this._handle);
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  }
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  /**
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   * Check if the timer is canceled.
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   * @return {boolean} Return true if timer is canceled, otherwise return false.
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   */
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  isCanceled() {
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    return rclnodejs.isTimerCanceled(this._handle);
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  }
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  /**
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   * Cancel the timer.
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   * @return {undefined}
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   */
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  cancel() {
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    rclnodejs.cancelTimer(this._handle);
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  }
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  /**
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   * Reset the timer.
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   * @return {undefined}
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   */
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  reset() {
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    rclnodejs.resetTimer(this._handle);
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  }
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  /**
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   * Get the interval since the last call of this timer.
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   * @return {bigint} - the interval value in nanoseconds.
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   */
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  timeSinceLastCall() {
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    return rclnodejs.timerGetTimeSinceLastCall(this._handle);
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  }
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  /**
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   * Get the interval until the next call will happen.
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   * @return {bigint} - the interval value in nanoseconds.
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   */
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  timeUntilNextCall() {
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    return rclnodejs.timerGetTimeUntilNextCall(this._handle);
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  }
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  /**
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   * Get the absolute time in nanoseconds when the next callback is due.
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   * Note: Only available on ROS2 distributions after Humble.
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   * @return {bigint | null} - The next call time in nanoseconds, or null if the timer is canceled.
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   *   Returns undefined if not supported on current ROS2 distribution.
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   */
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  getNextCallTime() {
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    if (typeof rclnodejs.getTimerNextCallTime !== 'function') {
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      return undefined;
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    }
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    return rclnodejs.getTimerNextCallTime(this._handle);
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  }
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  /**
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   * Change the timer period.
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   * @param {bigint} period - The new period in nanoseconds.
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   * @return {undefined}
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   */
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  changeTimerPeriod(period) {
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    rclnodejs.changeTimerPeriod(this._handle, period);
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  }
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  /**
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   * Get the timer period.
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   * @return {bigint} - The period in nanoseconds.
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   */
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  get timerPeriod() {
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    return rclnodejs.getTimerPeriod(this._handle);
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  }
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  /**
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   * Set the on reset callback.
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   * @param {function} callback - The callback to be called when the timer is reset.
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   * @return {undefined}
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   */
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  setOnResetCallback(callback) {
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    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
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      console.warn(
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        'setOnResetCallback is not supported by this version of ROS 2'
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      );
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      return;
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    }
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    rclnodejs.setTimerOnResetCallback(this._handle, callback);
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  }
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  /**
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   * Clear the on reset callback.
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   * @return {undefined}
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   */
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  clearOnResetCallback() {
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    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
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      console.warn(
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        'clearOnResetCallback is not supported by this version of ROS 2'
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      );
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      return;
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    }
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    rclnodejs.clearTimerOnResetCallback(this._handle);
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  }
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  /**
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   * Call a timer and starts counting again, retrieves actual and expected call time.
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   * @return {object} - The timer information.
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   */
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  callTimerWithInfo() {
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    if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
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      console.warn(
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        'callTimerWithInfo is not supported by this version of ROS 2'
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      );
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      return;
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    }
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    return rclnodejs.callTimerWithInfo(this._handle);
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  }
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}
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module.exports = Timer;
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