Add timer autostart and TimerInfo callback support

Author: minggangw

lib/node.js

@@ -256,8 +256,13 @@ class Node extends rclnodejs.ShadowNode {
 
     timersReady.forEach((timer) => {
       if (timer.isReady()) {
-        rclnodejs.callTimer(timer.handle);
-        timer.callback();
+        let timerInfo;
+        if (typeof rclnodejs.callTimerWithInfo === 'function') {
+          timerInfo = rclnodejs.callTimerWithInfo(timer.handle);
+        } else {
+          rclnodejs.callTimer(timer.handle);
+        }
+        timer.callback(timerInfo);
       }
     });
 
@@ -628,15 +633,43 @@ class Node extends rclnodejs.ShadowNode {
   /**
    * Create a Timer.
    * @param {bigint} period - The number representing period in nanoseconds.
-   * @param {function} callback - The callback to be called when timeout.
-   * @param {Clock} [clock] - The clock which the timer gets time from.
+   * @param {function} callback - The callback to be called when the timer fires.
+   *   On distros with native support, the callback receives a `TimerInfo` object
+   *   describing the expected and actual call time.
+   * @param {object|Clock} [optionsOrClock] - Timer options or the clock which the timer gets time from.
+   *   Supported options: `{ autostart?: boolean }`.
+   * @param {Clock} [clock] - The clock which the timer gets time from when options are provided.
    * @return {Timer} - An instance of Timer.
    */
-  createTimer(period, callback, clock = null) {
-    if (arguments.length === 3 && !(arguments[2] instanceof Clock)) {
-      clock = null;
-    } else if (arguments.length === 4) {
-      clock = arguments[3];
+  createTimer(period, callback, optionsOrClock = null, clock = null) {
+    let options = {};
+
+    if (optionsOrClock instanceof Clock.Clock) {
+      clock = optionsOrClock;
+    } else if (optionsOrClock === null || optionsOrClock === undefined) {
+      // Keep the 4th argument as the clock when the 3rd argument is omitted or explicitly null.
+    } else {
+      if (typeof optionsOrClock !== 'object' || Array.isArray(optionsOrClock)) {
+        throw new TypeValidationError(
+          'options',
+          optionsOrClock,
+          'object or Clock',
+          {
+            nodeName: this.name(),
+          }
+        );
+      }
+      options = optionsOrClock;
+    }
+
+    if (
+      arguments.length === 4 &&
+      clock !== null &&
+      !(clock instanceof Clock.Clock)
+    ) {
+      throw new TypeValidationError('clock', clock, 'Clock', {
+        nodeName: this.name(),
+      });
     }
 
     if (typeof period !== 'bigint') {
@@ -649,12 +682,27 @@ class Node extends rclnodejs.ShadowNode {
         nodeName: this.name(),
       });
     }
+    if (
+      options.autostart !== undefined &&
+      typeof options.autostart !== 'boolean'
+    ) {
+      throw new TypeValidationError(
+        'options.autostart',
+        options.autostart,
+        'boolean',
+        {
+          nodeName: this.name(),
+        }
+      );
+    }
 
     const timerClock = clock || this._clock;
+    const autostart = options.autostart ?? true;
     let timerHandle = rclnodejs.createTimer(
       timerClock.handle,
       this.context.handle,
-      period
+      period,
+      autostart
     );
     let timer = new Timer(timerHandle, period, callback);
     debug('Finish creating timer, period = %d.', period);

lib/timer.js

@@ -150,7 +150,7 @@ class Timer {
 
   /**
    * Call a timer and starts counting again, retrieves actual and expected call time.
-   * @return {object} - The timer information.
+   * @return {{expectedCallTime: bigint, actualCallTime: bigint}} - The timer information.
    */
   callTimerWithInfo() {
     if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {

src/rcl_timer_bindings.cpp

@@ -78,15 +78,18 @@ Napi::Value CreateTimer(const Napi::CallbackInfo& info) {
 
   bool lossless;
   int64_t period_nsec = info[2].As<Napi::BigInt>().Int64Value(&lossless);
+  bool autostart = true;
+  if (info.Length() > 3 && info[3].IsBoolean()) {
+    autostart = info[3].As<Napi::Boolean>().Value();
+  }
   rcl_timer_t* timer =
       reinterpret_cast<rcl_timer_t*>(malloc(sizeof(rcl_timer_t)));
   *timer = rcl_get_zero_initialized_timer();
 
 #if ROS_VERSION > 2305  // After Iron.
   {
     rcl_ret_t ret = rcl_timer_init2(timer, clock, context, period_nsec, nullptr,
-                                    rcl_get_default_allocator(),
-                                    /*autostart=*/true);
+                                    rcl_get_default_allocator(), autostart);
     if (RCL_RET_OK != ret) {
       std::string error_msg = rcl_get_error_string().str;
       rcl_reset_error();
@@ -106,6 +109,17 @@ Napi::Value CreateTimer(const Napi::CallbackInfo& info) {
       Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
       return env.Undefined();
     }
+    if (!autostart) {
+      rcl_ret_t cancel_ret = rcl_timer_cancel(timer);
+      if (RCL_RET_OK != cancel_ret) {
+        std::string error_msg = rcl_get_error_string().str;
+        rcl_reset_error();
+        rcl_timer_fini(timer);
+        free(timer);
+        Napi::Error::New(env, error_msg).ThrowAsJavaScriptException();
+        return env.Undefined();
+      }
+    }
   }
 #endif
 

test/test-timer.js

@@ -186,6 +186,42 @@ describe('rclnodejs Timer class testing', function () {
       done();
     });
 
+    it('node.createTimer supports autostart false', function (done) {
+      let called = false;
+      const timer = node.createTimer(
+        TIMER_INTERVAL,
+        () => {
+          called = true;
+          timer.cancel();
+          done();
+        },
+        { autostart: false }
+      );
+
+      rclnodejs.spin(node);
+
+      setTimeout(() => {
+        assert.strictEqual(called, false);
+        timer.reset();
+      }, 150);
+    });
+
+    it('timer callback receives TimerInfo when available', function (done) {
+      if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
+        this.skip();
+        return;
+      }
+
+      const timer = node.createTimer(TIMER_INTERVAL, (info) => {
+        assert.deepStrictEqual(typeof info.expectedCallTime, 'bigint');
+        assert.deepStrictEqual(typeof info.actualCallTime, 'bigint');
+        timer.cancel();
+        done();
+      });
+
+      rclnodejs.spin(node);
+    });
+
     it('timer.setOnResetCallback', function (done) {
       if (DistroUtils.getDistroId() <= DistroUtils.getDistroId('humble')) {
         this.skip();
@@ -340,4 +376,10 @@ describe('rclnodejs Timer class coverage testing', function () {
       consoleSpy.restore();
     }
   });
+
+  it('node.createTimer validates autostart option type', function () {
+    assert.throws(() => {
+      node.createTimer(TIMER_INTERVAL, () => {}, { autostart: 'false' });
+    }, /options\.autostart/);
+  });
 });

test/types/index.test-d.ts

@@ -321,11 +321,20 @@ expectType<boolean>(client.isDestroyed());
 expectType<string>(client.loggerName);
 
 // ---- Timer ----
-const timerCallback = () => {};
+const timerCallback: rclnodejs.TimerRequestCallback = (timerInfo) => {
+  if (timerInfo) {
+    expectType<bigint>(timerInfo.expectedCallTime);
+    expectType<bigint>(timerInfo.actualCallTime);
+  }
+};
 expectType<rclnodejs.TimerRequestCallback>(timerCallback);
 
 const timer = node.createTimer(BigInt(100000), timerCallback);
+const delayedTimer = node.createTimer(BigInt(100000), timerCallback, {
+  autostart: false,
+});
 expectType<rclnodejs.Timer>(timer);
+expectType<rclnodejs.Timer>(delayedTimer);
 expectType<bigint>(timer.period);
 expectType<boolean>(timer.isReady());
 expectType<bigint>(timer.timeSinceLastCall());
@@ -337,7 +346,7 @@ expectType<void>(timer.changeTimerPeriod(BigInt(100000)));
 expectType<bigint>(timer.timerPeriod());
 expectType<void>(timer.setOnResetCallback((_events: number) => {}));
 expectType<void>(timer.clearOnResetCallback());
-expectType<object>(timer.callTimerWithInfo());
+expectType<rclnodejs.TimerInfo>(timer.callTimerWithInfo());
 
 // ---- Rate ----
 const rate = await node.createRate(1);

types/node.d.ts

@@ -104,14 +104,24 @@ declare module 'rclnodejs' {
    */
   const DEFAULT_OPTIONS: Options;
 
+  interface TimerInfo {
+    expectedCallTime: bigint;
+    actualCallTime: bigint;
+  }
+
+  interface TimerOptions {
+    autostart?: boolean;
+  }
+
   /**
    * Callback for receiving periodic interrupts from a Timer.
+   * Receives timer metadata when the underlying ROS distro exposes it.
    *
    * @remarks
    * See {@link Node.createTimer | Node.createTimer}
    * See {@link Timer}
    */
-  type TimerRequestCallback = () => void;
+  type TimerRequestCallback = (timerInfo?: TimerInfo) => void;
 
   /**
    * Callback indicating parameters are about to be declared or set.
@@ -313,15 +323,18 @@ declare module 'rclnodejs' {
     /**
      * Create a Timer.
      *
-     * @param period - Elapsed time between interrupt events (milliseconds).
-     * @param callback - Called on timeout interrupt.
-     * @param clock - Optional clock to use for the timer.
+     * @param period - Elapsed time between interrupt events in nanoseconds.
+     * @param callback - Called when the timer fires. Receives a `TimerInfo` argument when available.
+     * @param optionsOrClock - Optional timer options or clock to use for the timer.
+     *   Supports `{ autostart?: boolean }` when an options object is provided.
+     * @param clock - Optional clock to use for the timer when options are provided.
      * @returns New instance of Timer.
      */
     createTimer(
       period: bigint,
       callback: TimerRequestCallback,
-      clock?: Clock
+      optionsOrClock?: TimerOptions | Clock | null,
+      clock?: Clock | null
     ): Timer;
 
     /**

types/timer.d.ts

@@ -78,8 +78,9 @@ declare module 'rclnodejs' {
 
     /**
      * Call a timer and starts counting again, retrieves actual and expected call time.
-     * @return - The timer information.
+     *
+     * @return The timer information with expected and actual call timestamps.
      */
-    callTimerWithInfo(): object;
+    callTimerWithInfo(): TimerInfo;
   }
 }