Wrapper around ROS Timer. More...

#include <isolated_async_timer.h>

Public Types
typedef std::function< void(void)>	LambdaCallback
Public Member Functions
	IsolatedAsyncTimer ()
	Default destructor is deleted.
	IsolatedAsyncTimer (const ros::NodeHandle &node_handle, const IsolatedAsyncTimer::LambdaCallback &callback, const float &frequency, bool stoppable=true, bool autostart=true, bool oneshot=false)
	Constructor.
	IsolatedAsyncTimer (const ros::NodeHandle &node_handle, const ros::TimerCallback &callback, const float &frequency, bool stoppable=true, bool autostart=true, bool oneshot=false)
	Constructor.
bool	isValid ()
	Returns true if timer is valid.
void	pause ()
	Pauses the timer.
void	resume ()
	Resumes the timer.
void	setRate (const float &frequency, bool reset=true)
	Sets a new rate to the timer.
void	start ()
	Starts the timer.
void	stop ()
	Stops the timer if set to stoppable.
	~IsolatedAsyncTimer ()
	Default destructor.
Static Public Member Functions
static ros::TimerCallback	to_timer_callback (const IsolatedAsyncTimer::LambdaCallback &callback)
	Converts a Lambda callback to valid ros::TimerCallback.
Private Member Functions
ros::TimerCallback	wrapTimerCallback (const ros::TimerCallback &callback) const
	Wraps a ros::TimerCallback with additional functionality.
Private Attributes
ros::TimerCallback	callback_
	Actual ros::TimerCallback used in the timer.
ros::CallbackQueue	callback_queue_
	Seperate callback queue for the timer.
float	frequency_
	Frequency in Hz of the timer.
ros::NodeHandle	node_handle_
	Node handle used to create the actual ros::Timer.
std::atomic< bool >	paused_
	Atomic bool that determines whether timer is paused or not.
ros::Duration	period_
	Duration between consecutive callback executions.
std::shared_ptr < ros::AsyncSpinner >	spinner_
	Shared pointer to the actual ros::AsyncSpiner that serves the callback queue in the background.
std::atomic< bool >	stoppable_
	Atomic bool that determines whether timer is stoppable or not.
std::shared_ptr< ros::Timer >	timer_
	Shared pointer to the actual ros::Timer object.
ros::TimerOptions	timer_ops_
	Timer options needed for.

Detailed Description

Wrapper around ROS Timer.

ROS Timer served by a single-threaded async spinner on a separate callback queue. Timer can also be paused, which will trigger the callback, but return immediately

Definition at line 62 of file isolated_async_timer.h.

Member Typedef Documentation

typedef std::function<void(void)> robot_activity::IsolatedAsyncTimer::LambdaCallback

Definition at line 65 of file isolated_async_timer.h.

Constructor & Destructor Documentation

robot_activity::IsolatedAsyncTimer::IsolatedAsyncTimer ( )

Default destructor is deleted.

[long description]

robot_activity::IsolatedAsyncTimer::IsolatedAsyncTimer	(	const ros::NodeHandle &	node_handle,
		const IsolatedAsyncTimer::LambdaCallback &	callback,
		const float &	frequency,
		bool	stoppable = `true`,
		bool	autostart = `true`,
		bool	oneshot = `false`
	)		`[inline]`

Constructor.

Constructs IsolatedAsyncTimer given a callback in form of a boost::function, which takes and returns void. Similarly to ROS's createTimer, the timer can be autostarted and run only once. Additionally, the timer can be set to unstopabble, where pausing and stopping does not have any effect

Parameters:

node_handle	[description]
callback	[description]
frequency	[description]
stoppable	[description]
autostart	[description]
oneshot	[description]

Definition at line 88 of file isolated_async_timer.h.

robot_activity::IsolatedAsyncTimer::IsolatedAsyncTimer	(	const ros::NodeHandle &	node_handle,
		const ros::TimerCallback &	callback,
		const float &	frequency,
		bool	stoppable = `true`,
		bool	autostart = `true`,
		bool	oneshot = `false`
	)		`[inline]`

Constructor.

Constructs IsolatedAsyncTimer given a callback in form of a ros::TimerCallback, which takes a ros::TimerEvent and returns a void. Similarly to ROS's createTimer, the timer can be autostarted and run only once. Additionally, the timer can be set to unstopabble, where pausing and stopping does not have any effect

Parameters:

node_handle	[description]
callback	[description]
frequency	[description]
stoppable	[description]
autostart	[description]
oneshot	[description]

Definition at line 117 of file isolated_async_timer.h.

robot_activity::IsolatedAsyncTimer::~IsolatedAsyncTimer ( ) [inline]

Default destructor.

Definition at line 150 of file isolated_async_timer.h.

Member Function Documentation

bool robot_activity::IsolatedAsyncTimer::isValid ( ) [inline]

Returns true if timer is valid.

Definition at line 191 of file isolated_async_timer.h.

void robot_activity::IsolatedAsyncTimer::pause ( ) [inline]

Pauses the timer.

Definition at line 175 of file isolated_async_timer.h.

void robot_activity::IsolatedAsyncTimer::resume ( ) [inline]

Resumes the timer.

Definition at line 183 of file isolated_async_timer.h.

void robot_activity::IsolatedAsyncTimer::setRate	(	const float &	frequency,
		bool	reset = `true`
	)		`[inline]`

Sets a new rate to the timer.

Sets a new rate to the timer and resets if asked for. Resetting will stop and start the timer, thus copying the callback. Copying the callback causes its state to be reset if the callback was passed as a closure (a lambda)

Parameters:

frequency	New timer frequency in Hz
reset	Whether to reset the timer or not

Definition at line 206 of file isolated_async_timer.h.

void robot_activity::IsolatedAsyncTimer::start ( ) [inline]

Starts the timer.

Definition at line 158 of file isolated_async_timer.h.

void robot_activity::IsolatedAsyncTimer::stop ( ) [inline]

Stops the timer if set to stoppable.

Definition at line 166 of file isolated_async_timer.h.

static ros::TimerCallback robot_activity::IsolatedAsyncTimer::to_timer_callback ( const IsolatedAsyncTimer::LambdaCallback & callback ) [inline, static]