Source: lib/timer.js

  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.
  15. 'use strict';
  17. const rclnodejs = require('bindings')('rclnodejs');
  19. /**
  20.  * @class - Class representing a Timer in ROS
  21.  * @hideconstructor
  22.  */
  24. class Timer {
  25.   constructor(handle, period, callback) {
  26.     this._handle = handle;
  27.     this._period = period;
  28.     this.callback = callback;
  29.   }
  31.   /**
  32.    * @type {bigint} - The period of the timer in nanoseconds.
  33.    */
  34.   get period() {
  35.     return this._period;
  36.   }
  38.   get handle() {
  39.     return this._handle;
  40.   }
  42.   /**
  43.    * Check if the timer is ready.
  44.    * @return {boolean} Return true if timer is ready, otherwise return false.
  45.    */
  46.   isReady() {
  47.     return rclnodejs.isTimerReady(this._handle);
  48.   }
  50.   /**
  51.    * Check if the timer is canceled.
  52.    * @return {boolean} Return true if timer is canceled, otherwise return false.
  53.    */
  54.   isCanceled() {
  55.     return rclnodejs.isTimerCanceled(this._handle);
  56.   }
  58.   /**
  59.    * Cancel the timer.
  60.    * @return {undefined}
  61.    */
  62.   cancel() {
  63.     rclnodejs.cancelTimer(this._handle);
  64.   }
  66.   /**
  67.    * Reset the timer.
  68.    * @return {undefined}
  69.    */
  70.   reset() {
  71.     rclnodejs.resetTimer(this._handle);
  72.   }
  74.   /**
  75.    * Get the interval since the last call of this timer.
  76.    * @return {bigint} - the interval value in nanoseconds.
  77.    */
  78.   timeSinceLastCall() {
  79.     return rclnodejs.timerGetTimeSinceLastCall(this._handle);
  80.   }
  82.   /**
  83.    * Get the interval until the next call will happen.
  84.    * @return {bigint} - the interval value in nanoseconds.
  85.    */
  86.   timeUntilNextCall() {
  87.     return rclnodejs.timerGetTimeUntilNextCall(this._handle);
  88.   }
  89. }
  91. module.exports = Timer;