one_shot_timer.h
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00034 
00035 #ifndef ACTION_TOOLS_ROBUST_ONE_SHOT_TIMER_H_
00036 #define ACTION_TOOLS_ROBUST_ONE_SHOT_TIMER_H_
00037 
00038 #include "ros/ros.h"
00039 #include "boost/bind.hpp"
00040 
00042 class OneShotTimer
00043 {
00044 public:
00045   OneShotTimer() : active_(false)  { }
00046 
00047   void cb(const ros::TimerEvent& e)
00048   {
00049     if (active_)
00050     {
00051       active_ = false;
00052 
00053       if (callback_)
00054         callback_(e);
00055       else
00056         ROS_ERROR_NAMED("actionlib", "Got a NULL Timer OneShotTimer Callback");
00057     }
00058   }
00059 
00060   boost::function<void (const ros::TimerEvent& e)> getCb()
00061   {
00062     return boost::bind(&OneShotTimer::cb, this, _1);
00063   }
00064 
00065   void registerOneShotCb(boost::function<void (const ros::TimerEvent& e)> callback)
00066   {
00067     callback_ = callback;
00068   }
00069 
00070   void stop()
00071   {
00072     //timer_.stop();
00073     active_ = false;
00074   }
00075 
00076   const ros::Timer& operator=(const ros::Timer& rhs)
00077   {
00078     active_ = true;
00079     timer_ = rhs;
00080     return timer_;
00081   }
00082 private:
00083   ros::Timer timer_;
00084   bool active_;
00085   boost::function<void (const ros::TimerEvent& e)> callback_;
00086 };
00087 
00088 
00089 #endif


actionlib
Author(s): Eitan Marder-Eppstein, Vijay Pradeep
autogenerated on Thu Jan 2 2014 11:03:49