timer.h
Go to the documentation of this file.00001 /* 00002 * Copyright (C) 2009, Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef ROSCPP_TIMER_H 00029 #define ROSCPP_TIMER_H 00030 00031 #include "common.h" 00032 #include "forwards.h" 00033 #include "timer_options.h" 00034 00035 namespace ros 00036 { 00037 00046 class ROSCPP_DECL Timer 00047 { 00048 public: 00049 Timer() {} 00050 Timer(const Timer& rhs); 00051 ~Timer(); 00052 00056 void start(); 00061 void stop(); 00062 00066 bool hasPending(); 00067 00071 void setPeriod(const Duration& period); 00072 00073 bool isValid() { return impl_ && impl_->isValid(); } 00074 operator void*() { return isValid() ? (void*)1 : (void*)0; } 00075 00076 bool operator<(const Timer& rhs) 00077 { 00078 return impl_ < rhs.impl_; 00079 } 00080 00081 bool operator==(const Timer& rhs) 00082 { 00083 return impl_ == rhs.impl_; 00084 } 00085 00086 bool operator!=(const Timer& rhs) 00087 { 00088 return impl_ != rhs.impl_; 00089 } 00090 00091 private: 00092 Timer(const TimerOptions& ops); 00093 00094 class Impl 00095 { 00096 public: 00097 Impl(); 00098 ~Impl(); 00099 00100 bool isValid(); 00101 bool hasPending(); 00102 void setPeriod(const Duration& period); 00103 00104 void start(); 00105 void stop(); 00106 00107 bool started_; 00108 int32_t timer_handle_; 00109 00110 Duration period_; 00111 TimerCallback callback_; 00112 CallbackQueueInterface* callback_queue_; 00113 VoidConstWPtr tracked_object_; 00114 bool has_tracked_object_; 00115 bool oneshot_; 00116 }; 00117 typedef boost::shared_ptr<Impl> ImplPtr; 00118 typedef boost::weak_ptr<Impl> ImplWPtr; 00119 00120 ImplPtr impl_; 00121 00122 friend class NodeHandle; 00123 }; 00124 00125 } 00126 00127 #endif