00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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