Callbacks when time jumps #222
Conversation
sloretz
added
enhancement
|
Taking out of review, changes coming |
sloretz
added
in progress
callbacks on ROS time activation or deactivation callbacks on forward time jumps callbacks on backward time jumps
sloretz
force-pushed
the
time_jump_callbacks
branch
from
956c663
to
8c50120
Compare
sloretz
added
in review
|
CI just rclpy because I don't expect changes to affect anything downstream.
|
rclpy/rclpy/clock.py
Outdated
| original_callback(TimeJump(clock_change, duration)) | ||
|
|
||
| if post_callback is not None and callable(post_callback): | ||
| post_callback = callback_shim |
There was a problem hiding this comment.
Should the callback_shim function only be defined when it is necessary within the if block?
rclpy/rclpy/clock.py
Outdated
| handler = JumpHandle( | ||
| clock=self._clock_handle, threshold=threshold, pre_callback=pre_callback, | ||
| post_callback=post_callback) | ||
| return handler |
There was a problem hiding this comment.
Nitpick: return the `JumpHandle(...) directly.
rclpy/src/rclpy/_rclpy.c
Outdated
| clock_change = "RCL_SYSTEM_TIME_NO_CHANGE"; | ||
| break; | ||
| default: | ||
| PyErr_Format(PyExc_RuntimeError, "Unknown time jump type"); |
There was a problem hiding this comment.
Nitpick: including the unexpected value in the message helps if the problem occurs.
rclpy/test/test_clock.py
Outdated
| pre_callback2.assert_called() | ||
| post_callback2.assert_called() | ||
| pre_callback2.assert_called() | ||
| post_callback2.assert_called() |
There was a problem hiding this comment.
Are these two lines supposed to check 3 instead of 2?
Same below.
rclpy/test/test_time_source.py
Outdated
| post_cb = Mock() | ||
| threshold = JumpThreshold( | ||
| min_forward=Duration(seconds=0.5), min_backward=None, on_clock_change=False) | ||
| handler = clock.create_jump_callback( # noqa |
There was a problem hiding this comment.
Nitpick: only suppress the expected code instead of everything.
Same below.
There was a problem hiding this comment.
Removed suppression in 4a0b4de
|
|
I noticed that the tests added in this PR seem to fail on xenial release nightlies: ros2/build_farmer#147 |
This adds callbacks when ROSTime jumps. The implementation closely mimics the implementation in
rclcpp.Time jump callbacks use the
rcl_clock_ttime jump callbacks. Python code is called in the callbacks usingPyObject_CallObject().Requires ros2/rcl#284