Change all setInterval to node.createTimer

Use the timer from rcl rather than from node.js

Author: qiuzhong

test/publisher_msg.js

@@ -26,13 +26,13 @@ rclnodejs.init().then(() => {
   msg.data = rclValue;
 
   var publisher = node.createPublisher(msgType, rclType + '_channel');
-  var timer = setInterval(() => {
+  var timer = node.createTimer(100, () => {
     publisher.publish(msg);
-  }, 100);
+  });
 
   rclnodejs.spin(node);
   process.on('SIGINT', (m) => {
-    clearInterval(timer);
+    timer.cancel();
     node.destroy();
     rclnodejs.shutdown();
     process.exit(0);

test/publisher_msg_colorrgba.js

@@ -27,13 +27,13 @@ rclnodejs.init().then(() => {
   };
 
   var publisher = node.createPublisher(ColorRGBA, 'ColorRGBA_channel');
-  var timer = setInterval(() => {
+  var timer = node.createTimer(100, () => {
     publisher.publish(msg);
-  }, 100);
+  });
 
   rclnodejs.spin(node);
   process.on('SIGINT', (m) => {
-    clearInterval(timer);
+    timer.cancel();
     node.destroy();
     rclnodejs.shutdown();
     process.exit(0);

test/publisher_msg_header.js

@@ -31,13 +31,13 @@ rclnodejs.init().then(() => {
   };
 
   var publisher = node.createPublisher(Header, 'Header_channel');
-  var timer = setInterval(() => {
+  var timer = node.createTimer(100, () => {
     publisher.publish(header);
-  }, 100);
+  });
 
   rclnodejs.spin(node);
   process.on('SIGINT', (m) => {
-    clearInterval(timer);
+    timer.cancel();
     node.destroy();
     rclnodejs.shutdown();
     process.exit(0);

test/publisher_msg_jointstate.js

@@ -37,13 +37,13 @@ rclnodejs.init().then(() => {
   };
 
   var publisher = node.createPublisher(JointState, 'JointState_channel');
-  var timer = setInterval(() => {
+  var timer = node.createTimer(100, () => {
     publisher.publish(state);
-  }, 100);
+  });
 
   rclnodejs.spin(node);
   process.on('SIGINT', (m) => {
-    clearInterval(timer);
+    timer.cancel();
     node.destroy();
     rclnodejs.shutdown();
     process.exit(0);

test/test-cross-lang.js

@@ -79,14 +79,14 @@ describe('Cross-language interaction', function() {
       var cppListener = childProcess.spawn(cppListenerPath, ['-t', 'js_cpp_chatter']);
       var publisher = node.createPublisher(RclString, 'js_cpp_chatter');
       const msg = text;
-      var timer = setInterval(() => {
+      var timer = node.createTimer(100, () => {
         publisher.publish(msg);
-      }, 100);
+      });
 
       cppListener.stdout.on('data', (data) => {
         if (!destroy) {
           assert.ok(new RegExp(text).test(data.toString()));
-          clearInterval(timer);
+          timer.cancel();
           node.destroy();
           cppListener.kill('SIGINT');
           destroy = true;
@@ -106,13 +106,13 @@ describe('Cross-language interaction', function() {
       var publisher = node.createPublisher(RclString, 'js_py_chatter');
       var msg = text;
 
-      var timer = setInterval(() => {
+      var timer = node.createTimer(100, () => {
         publisher.publish(msg);
-      }, 100);
+      });
       pyListener.stdout.on('data', (data) => {
         if (!destroy) {
           assert.ok(new RegExp(text).test(data.toString()));
-          clearInterval(timer);
+          timer.cancel();
           node.destroy();
           pyListener.kill('SIGINT');
           destroy = true;
@@ -133,18 +133,18 @@ describe('Cross-language interaction', function() {
       var client = node.createClient(AddTwoInts, 'js_py_add_two_ints');
       const request = {a: 1, b: 2};
 
-      var timer = setInterval(() => {
+      var timer = node.createTimer(100, () => {
         client.sendRequest(request, (response) => {
           if (!destroy) {
             assert.deepStrictEqual(response.sum, 3);
-            clearInterval(timer);
+            timer.cancel();
             node.destroy();
             pyService.kill('SIGINT');
             destroy = true;
             done();
           }      
         });
-      }, 100);
+      });
 
       rclnodejs.spin(node);
     });