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Taking out of review, changes coming |
callbacks on ROS time activation or deactivation callbacks on forward time jumps callbacks on backward time jumps
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CI just rclpy because I don't expect changes to affect anything downstream.
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dirk-thomas
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Aug 28, 2018
| original_callback(TimeJump(clock_change, duration)) | ||
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| if post_callback is not None and callable(post_callback): | ||
| post_callback = callback_shim |
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Should the callback_shim function only be defined when it is necessary within the if block?
rclpy/rclpy/clock.py
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| handler = JumpHandle( | ||
| clock=self._clock_handle, threshold=threshold, pre_callback=pre_callback, | ||
| post_callback=post_callback) | ||
| return handler |
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Nitpick: return the `JumpHandle(...) directly.
rclpy/src/rclpy/_rclpy.c
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| clock_change = "RCL_SYSTEM_TIME_NO_CHANGE"; | ||
| break; | ||
| default: | ||
| PyErr_Format(PyExc_RuntimeError, "Unknown time jump type"); |
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Nitpick: including the unexpected value in the message helps if the problem occurs.
rclpy/test/test_clock.py
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| pre_callback2.assert_called() | ||
| post_callback2.assert_called() | ||
| pre_callback2.assert_called() | ||
| post_callback2.assert_called() |
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Are these two lines supposed to check 3 instead of 2?
Same below.
rclpy/test/test_time_source.py
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| post_cb = Mock() | ||
| threshold = JumpThreshold( | ||
| min_forward=Duration(seconds=0.5), min_backward=None, on_clock_change=False) | ||
| handler = clock.create_jump_callback( # noqa |
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Nitpick: only suppress the expected code instead of everything.
Same below.
dirk-thomas
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Aug 28, 2018
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I noticed that the tests added in this PR seem to fail on xenial release nightlies: ros2/build_farmer#147 |
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Original PR #222 by sloretz Original: ros2/rclpy#222
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Merged from original PR #222 Original: ros2/rclpy#222
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Original PR #222 by sloretz Original: ros2/rclpy#222
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Merged from original PR #222 Original: ros2/rclpy#222
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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