Method ExecuteLoop

src/interface/aimrt_module_cpp_interface/executor/timer.h:83–115

 private:
  void ExecuteLoop() {
    auto shared_this = this->shared_from_this();
    executor_.ExecuteAt(next_call_time_, [shared_this, planned_time = next_call_time_]() {
      if (shared_this->IsCancelled()) {
        return;
      }

      // Skip current execution if timer was reset or restarted
      if (planned_time != shared_this->next_call_time_) {
        return;
      }

      shared_this->ExecuteTask();

      auto now = shared_this->executor_.Now();
      shared_this->next_call_time_ = std::chrono::time_point_cast<std::chrono::system_clock::duration>(
          shared_this->next_call_time_ + shared_this->period_);

      // If now is ahead of the next call time, skip some times.
      if (shared_this->next_call_time_ < now) {
        if (shared_this->period_ == std::chrono::nanoseconds::zero()) {
          shared_this->next_call_time_ = now;
        } else {
          auto now_ahead = now - shared_this->next_call_time_;
          auto skip_count = 1 + ((now_ahead - std::chrono::nanoseconds(1)) / shared_this->period_);
          shared_this->next_call_time_ = std::chrono::time_point_cast<std::chrono::system_clock::duration>(
              shared_this->next_call_time_ + (skip_count * shared_this->period_));
        }
      }

      shared_this->ExecuteLoop();
    });
  }

 private:
  TaskType task_;