Function CreateTimer

src/interface/aimrt_module_cpp_interface/executor/timer.h:122–132

template <typename TaskType>
std::shared_ptr<TimerBase> CreateTimer(ExecutorRef executor, std::chrono::nanoseconds period,
                                       TaskType&& task, bool auto_start = true) {
  AIMRT_ASSERT(executor, "Executor is null.");
  AIMRT_ASSERT(executor.SupportTimerSchedule(), "Executor does not support timer scheduling.");
  AIMRT_ASSERT(period >= std::chrono::nanoseconds::zero(), "Timer period must not be negative.");
  auto timer = std::make_shared<Timer<TaskType>>(executor, period, std::forward<TaskType>(task));
  if (auto_start) {
    timer->Reset();
  }
  return timer;
}

}  // namespace aimrt::executor