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time_until_next_call returns max if timer is canceled #907

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time_until_next_call returns max if timer is canceled #907

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6 changes: 5 additions & 1 deletion rclpy/src/rclpy/timer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <rcl/timer.h>
#include <rcl/types.h>

#include <limits>
#include <memory>
#include <stdexcept>

Expand Down Expand Up @@ -109,7 +110,10 @@ int64_t Timer::time_until_next_call()
{
int64_t remaining_time;
rcl_ret_t ret = rcl_timer_get_time_until_next_call(rcl_timer_.get(), &remaining_time);
if (ret != RCL_RET_OK) {

if (ret == RCL_RET_TIMER_CANCELED) {
return std::numeric_limits<int64_t>::max();
} else if (ret != RCL_RET_OK) {
throw RCLError("failed to get time until next timer call");
}

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1 change: 1 addition & 0 deletions rclpy/src/rclpy/timer.hpp
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Expand Up @@ -84,6 +84,7 @@ class Timer : public Destroyable, public std::enable_shared_from_this<Timer>
/// Get the time before the timer will be ready
/**
* the returned time can be negative, this means that the timer is ready and hasn't been called yet
* the returned time for a canceled timer is the max representation of an int64_t
*
* Raises RCLError there is an rcl error
*
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