Implement rcl_timer_reset

Author: agalbachicar

rclrs/src/timer.rs

@@ -89,6 +89,12 @@ impl Timer {
         })
     }
 
+    pub fn reset(&mut self) -> Result<(), RclrsError>
+    {
+        let mut rcl_timer = self.rcl_timer.lock().unwrap();
+        to_rclrs_result(unsafe {rcl_timer_reset(&mut *rcl_timer)})
+    }
+
     // handle() -> RCLC Timer Type
 
     // clock() -> Clock ?
@@ -205,8 +211,6 @@ mod tests {
         let clock = Clock::steady();
         let context = Context::new(vec![]).unwrap();
         let period_ns: i64 = 2e6 as i64;  // 2 milliseconds.
-        let sleep_period_ms = time::Duration::from_millis(1);
-
         let dut = Timer::new(&clock, &context, period_ns);
         assert!(dut.is_ok());
         let dut = dut.unwrap();
@@ -215,4 +219,20 @@ mod tests {
         let time_until_next_call = time_until_next_call.unwrap();
         assert!(time_until_next_call < period_ns, "time_until_next_call: {}", time_until_next_call);
     }
+
+    #[test]
+    fn test_reset() {
+        let tolerance = 1e4 as i64;
+        let clock = Clock::steady();
+        let context = Context::new(vec![]).unwrap();
+        let period_ns: i64 = 2e6 as i64;  // 2 milliseconds.
+        let mut dut = Timer::new(&clock, &context, period_ns).unwrap();
+        let elapsed = period_ns - dut.time_until_next_call().unwrap();
+        assert!(elapsed < tolerance , "elapsed before reset: {}", elapsed);
+        thread::sleep(time::Duration::from_millis(1));
+        assert!(dut.reset().is_ok());
+        let elapsed = period_ns - dut.time_until_next_call().unwrap();
+        assert!(elapsed < tolerance , "elapsed after reset: {}", elapsed);
+    }
+
 }