timer.cpp
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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 Stanford University or 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 #include "ros/timer.h"
00029 #include "ros/timer_manager.h"
00030 
00031 namespace ros
00032 {
00033 
00034 Timer::Impl::Impl()
00035   : started_(false)
00036   , timer_handle_(-1)
00037 { }
00038 
00039 Timer::Impl::~Impl()
00040 {
00041   ROS_DEBUG("Timer deregistering callbacks.");
00042   stop();
00043 }
00044 
00045 bool Timer::Impl::isValid()
00046 {
00047   return !period_.isZero();
00048 }
00049 
00050 void Timer::Impl::start()
00051 {
00052   if (!started_)
00053   {
00054     VoidConstPtr tracked_object;
00055     if (has_tracked_object_)
00056     {
00057       tracked_object = tracked_object_.lock();
00058     }
00059 
00060     timer_handle_ = TimerManager<Time, Duration, TimerEvent>::global().add(period_, callback_, callback_queue_, tracked_object, oneshot_);
00061     started_ = true;
00062   }
00063 }
00064 
00065 void Timer::Impl::stop()
00066 {
00067   if (started_)
00068   {
00069     started_ = false;
00070     TimerManager<Time, Duration, TimerEvent>::global().remove(timer_handle_);
00071     timer_handle_ = -1;
00072   }
00073 }
00074 
00075 bool Timer::Impl::hasPending()
00076 {
00077   if (!isValid() || timer_handle_ == -1)
00078   {
00079     return false;
00080   }
00081 
00082   return TimerManager<Time, Duration, TimerEvent>::global().hasPending(timer_handle_);
00083 }
00084 
00085 void Timer::Impl::setPeriod(const Duration& period, bool reset)
00086 {
00087   period_ = period;
00088   TimerManager<Time, Duration, TimerEvent>::global().setPeriod(timer_handle_, period, reset);
00089 }
00090 
00091 Timer::Timer(const TimerOptions& ops)
00092 : impl_(new Impl)
00093 {
00094   impl_->period_ = ops.period;
00095   impl_->callback_ = ops.callback;
00096   impl_->callback_queue_ = ops.callback_queue;
00097   impl_->tracked_object_ = ops.tracked_object;
00098   impl_->has_tracked_object_ = (ops.tracked_object != NULL);
00099   impl_->oneshot_ = ops.oneshot;
00100 }
00101 
00102 Timer::Timer(const Timer& rhs)
00103 {
00104   impl_ = rhs.impl_;
00105 }
00106 
00107 Timer::~Timer()
00108 {
00109 }
00110 
00111 void Timer::start()
00112 {
00113   if (impl_)
00114   {
00115     impl_->start();
00116   }
00117 }
00118 
00119 void Timer::stop()
00120 {
00121   if (impl_)
00122   {
00123     impl_->stop();
00124   }
00125 }
00126 
00127 bool Timer::hasPending()
00128 {
00129   if (impl_)
00130   {
00131     return impl_->hasPending();
00132   }
00133 
00134   return false;
00135 }
00136 
00137 void Timer::setPeriod(const Duration& period, bool reset)
00138 {
00139   if (impl_)
00140   {
00141     impl_->setPeriod(period, reset);
00142   }
00143 }
00144 
00145 }


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:04