From df0b9ef85a58006e805f81d8e08e342f088097f0 Mon Sep 17 00:00:00 2001
From: kosuke55 <kosuke.tnp@gmail.com>
Date: Wed, 28 Feb 2024 12:14:36 +0900
Subject: [PATCH] refactor: remove timer

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../perception_online_evaluator_node.hpp      |  8 ++-----
 .../src/perception_online_evaluator_node.cpp  | 24 ++++++-------------
 2 files changed, 9 insertions(+), 23 deletions(-)

diff --git a/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp b/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp
index 318148f14b24e..e6317f92179fe 100644
--- a/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp
+++ b/evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp
@@ -50,7 +50,7 @@ class PerceptionOnlineEvaluatorNode : public rclcpp::Node
 {
 public:
   explicit PerceptionOnlineEvaluatorNode(const rclcpp::NodeOptions & node_options);
-  ~PerceptionOnlineEvaluatorNode();
+  ~PerceptionOnlineEvaluatorNode() {};
 
   /**
    * @brief callback on receiving a dynamic objects array
@@ -62,11 +62,6 @@ class PerceptionOnlineEvaluatorNode : public rclcpp::Node
     const std::string metric, const Stat<double> & metric_stat) const;
 
 private:
-  // Timer
-  rclcpp::TimerBase::SharedPtr timer_;
-  void initTimer(double period_s);
-  void onTimer();
-
   // Subscribers and publishers
   rclcpp::Subscription<PredictedObjects>::SharedPtr objects_sub_;
   rclcpp::Publisher<DiagnosticArray>::SharedPtr metrics_pub_;
@@ -86,6 +81,7 @@ class PerceptionOnlineEvaluatorNode : public rclcpp::Node
   // Metrics Calculator
   MetricsCalculator metrics_calculator_;
   std::deque<rclcpp::Time> stamps_;
+  void publishMetrics();
 
   // Debug
   void publishDebugMarker();
diff --git a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp
index 48e80f487dd3a..e86d1b4217f78 100644
--- a/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp
+++ b/evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp
@@ -35,7 +35,8 @@
 
 namespace perception_diagnostics
 {
-PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode(const rclcpp::NodeOptions & node_options)
+PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode(
+  const rclcpp::NodeOptions & node_options)
 : Node("perception_online_evaluator", node_options),
   parameters_(std::make_shared<Parameters>()),
   metrics_calculator_(parameters_)
@@ -58,26 +59,13 @@ PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode(const rclcpp::NodeO
 
   set_param_res_ = this->add_on_set_parameters_callback(
     std::bind(&PerceptionOnlineEvaluatorNode::onParameter, this, std::placeholders::_1));
-
-  // Timer
-  initTimer(/*period_s=*/0.1);
-}
-
-PerceptionOnlineEvaluatorNode::~PerceptionOnlineEvaluatorNode()
-{
 }
 
-void PerceptionOnlineEvaluatorNode::initTimer(double period_s)
-{
-  const auto period_ns =
-    std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(period_s));
-  timer_ = rclcpp::create_timer(
-    this, get_clock(), period_ns, std::bind(&PerceptionOnlineEvaluatorNode::onTimer, this));
-}
-
-void PerceptionOnlineEvaluatorNode::onTimer()
+void PerceptionOnlineEvaluatorNode::publishMetrics()
 {
   DiagnosticArray metrics_msg;
+
+  // calculate metrics
   for (const Metric & metric : parameters_->metrics) {
     const auto metric_stat_map = metrics_calculator_.calculate(Metric(metric));
     if (!metric_stat_map.has_value()) {
@@ -91,6 +79,7 @@ void PerceptionOnlineEvaluatorNode::onTimer()
     }
   }
 
+  // publish metrics
   if (!metrics_msg.status.empty()) {
     metrics_msg.header.stamp = now();
     metrics_pub_->publish(metrics_msg);
@@ -123,6 +112,7 @@ DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus(
 void PerceptionOnlineEvaluatorNode::onObjects(const PredictedObjects::ConstSharedPtr objects_msg)
 {
   metrics_calculator_.setPredictedObjects(*objects_msg);
+  publishMetrics();
 }
 
 void PerceptionOnlineEvaluatorNode::publishDebugMarker()