Working E2E timer with node.

Signed-off-by: Agustin Alba Chicar <[email protected]>

Author: agalbachicar

rclrs/src/node.rs

@@ -345,28 +345,21 @@ impl Node {
     }
 
     /// Creates a [`Timer`]
-    pub(crate) fn create_timer(
+    pub fn create_timer(
         &self,
-        timer_period_s: i64,
-        context: Context,
+        period_ns: i64,
+        context: &Context,
         callback: Option<TimerCallback>,
         clock: Option<Clock>
-    ) -> Arc<Timer> {
-        let timer_period_ns = (timer_period_s as f64 * S_TO_NS) as i64;
-        let clock_used;
-        match clock {
-            Some(value) => {
-                clock_used = value;
-            }
-            None => {
-                clock_used = self.get_clock();
-            }
-        }
-        let context = Context::new(vec![]).unwrap();
-        let timer = Timer::new(&clock_used, &context, timer_period_ns);
-        let timer = Arc::new(timer.unwrap());
+    ) -> Result<Arc<Timer>, RclrsError> {
+        let clock_used = match clock {
+            Some(value) => value,
+            None => self.get_clock(),
+        };
+        let timer = Timer::new_with_callback(&clock_used, &context, period_ns, callback)?;
+        let timer = Arc::new(timer);
         self.timers_mtx.lock().unwrap().push(Arc::downgrade(&timer) as Weak<Timer>);
-        timer
+        Ok(timer)
     }
 
     /// Returns the subscriptions that have not been dropped yet.
@@ -398,6 +391,13 @@ impl Node {
             .collect()
     }
 
+    pub(crate) fn live_timers(&self) -> Vec<Arc<Timer>> {
+        { self.timers_mtx.lock().unwrap() }
+            .iter()
+            .filter_map(Weak::upgrade)
+            .collect()
+    }
+
     /// Returns the ROS domain ID that the node is using.
     ///
     /// The domain ID controls which nodes can send messages to each other, see the [ROS 2 concept article][1].

rclrs/src/timer.rs

@@ -146,7 +146,7 @@ impl Timer {
         })
     }
 
-    pub/* (crate)*/ fn execute(&self) -> Result<(), RclrsError>
+    pub fn execute(&self) -> Result<(), RclrsError>
     {
         if self.is_ready()?
         {

rclrs/src/wait.rs

@@ -142,13 +142,14 @@ impl WaitSet {
         let live_clients = node.live_clients();
         let live_guard_conditions = node.live_guard_conditions();
         let live_services = node.live_services();
+        let live_timers = node.live_timers();
         let ctx = Context {
             handle: Arc::clone(&node.handle.context_handle),
         };
         let mut wait_set = WaitSet::new(
             live_subscriptions.len(),
             live_guard_conditions.len(),
-            0,
+            live_timers.len(),
             live_clients.len(),
             live_services.len(),
             0,
@@ -170,6 +171,10 @@ impl WaitSet {
         for live_service in &live_services {
             wait_set.add_service(live_service.clone())?;
         }
+
+        for live_timer in &live_timers {
+            wait_set.add_timer(live_timer.clone())?;
+        }
         Ok(wait_set)
     }