one_shot_timer.h

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#ifndef ACTION_TOOLS_ROBUST_ONE_SHOT_TIMER_H_
#define ACTION_TOOLS_ROBUST_ONE_SHOT_TIMER_H_

#include "ros/ros.h"
#include "boost/bind.hpp"

class OneShotTimer
{
public:
  OneShotTimer() : active_(false)  { }

  void cb(const ros::TimerEvent& e)
  {
    if (active_)
    {
      active_ = false;

      if (callback_)
        callback_(e);
      else
        ROS_ERROR_NAMED("actionlib", "Got a NULL Timer OneShotTimer Callback");
    }
  }

  boost::function<void (const ros::TimerEvent& e)> getCb()
  {
    return boost::bind(&OneShotTimer::cb, this, _1);
  }

  void registerOneShotCb(boost::function<void (const ros::TimerEvent& e)> callback)
  {
    callback_ = callback;
  }

  void stop()
  {
    //timer_.stop();
    active_ = false;
  }

  const ros::Timer& operator=(const ros::Timer& rhs)
  {
    active_ = true;
    timer_ = rhs;
    return timer_;
  }
private:
  ros::Timer timer_;
  bool active_;
  boost::function<void (const ros::TimerEvent& e)> callback_;
};


#endif