Skip to content

Reuse bond heartbeat watchdog timer #116

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
mini-1235 wants to merge 2 commits into
base: ros2
Choose a base branch
from
+39 −12
Open

Reuse bond heartbeat watchdog timer #116

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
b228bd4
Apply local bond_core workspace changes
mini-1235 Sep 1, 2026
f964242
Fix rclcpp init include
mini-1235 Sep 1, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion bond/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.20)
project(bond)

# Default to C++14
Expand Down
2 changes: 1 addition & 1 deletion bond_core/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.20)
project(bond_core)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
Expand Down
2 changes: 1 addition & 1 deletion bondcpp/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.20)
project(bondcpp)

if(NOT CMAKE_CXX_STANDARD)
Expand Down
15 changes: 11 additions & 4 deletions bondcpp/include/bondcpp/bond.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,14 +38,22 @@
#include <string>
#include <vector>

#include "bond/msg/constants.hpp"
#include "bond/msg/status.hpp"

#include "bondcpp/BondSM_sm.hpp"
#include "bondcpp/visibility_control.hpp"

#include <rclcpp/rclcpp.hpp>
#include <rclcpp_lifecycle/lifecycle_node.hpp>
#include "rclcpp/duration.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp/node_interfaces/node_logging_interface.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/node_timers_interface.hpp"
#include "rclcpp/node_interfaces/node_topics_interface.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/subscription.hpp"
#include "rclcpp/timer.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"

namespace bond
{
Expand Down Expand Up @@ -276,7 +284,6 @@ class Bond : public std::enable_shared_from_this<Bond>
rclcpp::Duration heartbeat_period_;
rclcpp::Duration dead_publish_period_;

rclcpp::CallbackGroup::SharedPtr sub_callback_group_;
rclcpp::Subscription<bond::msg::Status>::SharedPtr sub_;
rclcpp::Publisher<bond::msg::Status>::SharedPtr pub_;
};
Expand Down
21 changes: 19 additions & 2 deletions bondcpp/src/bond.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,8 +45,20 @@
#include <utility>
#include <vector>

#include <rclcpp/rclcpp.hpp>
#include <rclcpp_lifecycle/lifecycle_node.hpp>
#include "bond/msg/constants.hpp"

#include "rclcpp/clock.hpp"
#include "rclcpp/create_publisher.hpp"
#include "rclcpp/create_subscription.hpp"
#include "rclcpp/create_timer.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/logging.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/rate.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/utilities.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"

using namespace std::chrono_literals;

Expand Down Expand Up @@ -265,6 +277,11 @@ void Bond::setHeartbeatTimeout(double dur)

void Bond::heartbeatTimerReset()
{
if (heartbeat_timer_) {

@SteveMacenski SteveMacenski Sep 1, 2026

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

This seems to work I think. heartbeat_timeout_ can change using setHeartbeatTimeout but since it doesn't change when started_, its OK as this only occurs after its started.

@SteveMacenski SteveMacenski Sep 1, 2026

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Just adding the comment for a future reviewer that I'm sure will want to track down the same thing.

heartbeat_timer_->reset();
return;
}

// Callback function of heartbeat timer
auto heartbeatTimerResetCallback =
[this]() -> void
Expand Down
2 changes: 1 addition & 1 deletion smclib/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.20)
project(smclib)

if(NOT CMAKE_CXX_STANDARD)
Expand Down
2 changes: 1 addition & 1 deletion test_bond/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.20)
project(test_bond)

# Default to C++14
Expand Down
5 changes: 4 additions & 1 deletion test_bond/test/test_callbacks_cpp.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,10 @@

#include "bondcpp/bond.hpp"

#include "rclcpp/rclcpp.hpp"
#include "rclcpp/duration.hpp"
#include "rclcpp/executors/single_threaded_executor.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/utilities.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"

#include "test_bond/srv/test_bond.hpp"
Expand Down