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[rospy] Add option to reset timer when time moved backwards #1083

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merged 2 commits into from
Jul 6, 2017
Merged

[rospy] Add option to reset timer when time moved backwards #1083

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46ff237
Add option to reset timer when time moved backwards
wkentaro Jun 26, 2017
6af1e30
refactor logic
dirk-thomas Jul 6, 2017
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20 changes: 16 additions & 4 deletions clients/rospy/src/rospy/timer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,15 +49,18 @@ class Rate(object):
Convenience class for sleeping in a loop at a specified rate
"""

def __init__(self, hz):
def __init__(self, hz, reset=False):
"""
Constructor.
@param hz: hz rate to determine sleeping
@type hz: int
@param reset: if True, timer is reset when rostime moved backward. [default: False]
@type reset: bool
"""
# #1403
self.last_time = rospy.rostime.get_rostime()
self.sleep_dur = rospy.rostime.Duration(0, int(1e9/hz))
self._reset = reset

def _remaining(self, curr_time):
"""
Expand Down Expand Up @@ -96,7 +99,13 @@ def sleep(self):
backwards
"""
curr_time = rospy.rostime.get_rostime()
sleep(self._remaining(curr_time))
try:
sleep(self._remaining(curr_time))
except rospy.exceptions.ROSTimeMovedBackwardsException:
if not self._reset:
raise
self.last_time = rospy.rostime.get_rostime()
return
self.last_time = self.last_time + self.sleep_dur

# detect time jumping forwards, as well as loops that are
Expand Down Expand Up @@ -180,7 +189,7 @@ class Timer(threading.Thread):
Convenience class for calling a callback at a specified rate
"""

def __init__(self, period, callback, oneshot=False):
def __init__(self, period, callback, oneshot=False, reset=False):
"""
Constructor.
@param period: desired period between callbacks
Expand All @@ -189,11 +198,14 @@ def __init__(self, period, callback, oneshot=False):
@type callback: function taking rospy.TimerEvent
@param oneshot: if True, fire only once, otherwise fire continuously until shutdown is called [default: False]
@type oneshot: bool
@param reset: if True, timer is reset when rostime moved backward. [default: False]
@type reset: bool
"""
super(Timer, self).__init__()
self._period = period
self._callback = callback
self._oneshot = oneshot
self._reset = reset
self._shutdown = False
self.setDaemon(True)
self.start()
Expand All @@ -205,7 +217,7 @@ def shutdown(self):
self._shutdown = True

def run(self):
r = Rate(1.0 / self._period.to_sec())
r = Rate(1.0 / self._period.to_sec(), reset=self._reset)
current_expected = rospy.rostime.get_rostime() + self._period
last_expected, last_real, last_duration = None, None, None
while not rospy.core.is_shutdown() and not self._shutdown:
Expand Down