steady_timer.h
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1 /*
2  * Copyright (C) 2017, Felix Ruess, Roboception GmbH
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27 
28 #ifndef ROSCPP_STEADY_TIMER_H
29 #define ROSCPP_STEADY_TIMER_H
30 
31 #include "common.h"
32 #include "forwards.h"
33 #include "steady_timer_options.h"
34 
35 namespace ros
36 {
37 
46 class ROSCPP_DECL SteadyTimer
47 {
48 public:
50  SteadyTimer(const SteadyTimer& rhs);
51  ~SteadyTimer();
52 
56  void start();
61  void stop();
62 
66  bool hasPending();
67 
71  void setPeriod(const WallDuration& period, bool reset=true);
72 
73  bool isValid() { return impl_ && impl_->isValid(); }
74  operator void*() { return isValid() ? (void *) 1 : (void *) 0; }
75 
76  bool operator<(const SteadyTimer& rhs)
77  {
78  return impl_ < rhs.impl_;
79  }
80 
81  bool operator==(const SteadyTimer& rhs)
82  {
83  return impl_ == rhs.impl_;
84  }
85 
86  bool operator!=(const SteadyTimer& rhs)
87  {
88  return impl_ != rhs.impl_;
89  }
90 
91 private:
92  SteadyTimer(const SteadyTimerOptions& ops);
93 
94  class Impl
95  {
96  public:
97  Impl();
98  ~Impl();
99 
100  bool isValid();
101  bool hasPending();
102  void setPeriod(const WallDuration &period, bool reset=true);
103 
104  void start();
105  void stop();
106 
107  bool started_;
108  int32_t timer_handle_;
109 
115  bool oneshot_;
116  };
118  typedef boost::weak_ptr<Impl> ImplWPtr;
119 
120  ImplPtr impl_;
121 
122  friend class NodeHandle;
123 };
124 
125 }
126 
127 #endif
boost::shared_ptr< Impl > ImplPtr
Definition: steady_timer.h:117
bool operator!=(const SteadyTimer &rhs)
Definition: steady_timer.h:86
ROSCPP_DECL void start()
Actually starts the internals of the node (spins up threads, starts the network polling and xmlrpc lo...
Definition: init.cpp:293
VoidConstWPtr tracked_object_
Definition: steady_timer.h:113
Abstract interface for a queue used to handle all callbacks within roscpp.
SteadyTimerCallback callback_
Definition: steady_timer.h:111
bool operator<(const SteadyTimer &rhs)
Definition: steady_timer.h:76
boost::weak_ptr< void const > VoidConstWPtr
Definition: forwards.h:53
roscpp&#39;s interface for creating subscribers, publishers, etc.
Definition: node_handle.h:87
boost::function< void(const SteadyTimerEvent &)> SteadyTimerCallback
Definition: forwards.h:180
boost::weak_ptr< Impl > ImplWPtr
Definition: steady_timer.h:118
CallbackQueueInterface * callback_queue_
Definition: steady_timer.h:112
Manages a steady-clock timer callback.
Definition: steady_timer.h:46
bool operator==(const SteadyTimer &rhs)
Definition: steady_timer.h:81
Encapsulates all options available for starting a timer.


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Wed Dec 20 2017 03:58:41