wall_timer.cpp
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2009, Willow Garage, Inc.
3  *
4  * Redistribution and use in source and binary forms, with or without
5  * modification, are permitted provided that the following conditions are met:
6  * * Redistributions of source code must retain the above copyright notice,
7  * this list of conditions and the following disclaimer.
8  * * Redistributions in binary form must reproduce the above copyright
9  * notice, this list of conditions and the following disclaimer in the
10  * documentation and/or other materials provided with the distribution.
11  * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
12  * contributors may be used to endorse or promote products derived from
13  * this software without specific prior written permission.
14  *
15  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
16  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
17  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
18  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
19  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
20  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
21  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
22  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
23  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
24  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
25  * POSSIBILITY OF SUCH DAMAGE.
26  */
27 
28 #include "ros/wall_timer.h"
29 #include "ros/timer_manager.h"
30 
31 namespace ros
32 {
33 
35  : started_(false)
36  , timer_handle_(-1)
37 { }
38 
40 {
41  ROS_DEBUG("WallTimer deregistering callbacks.");
42  stop();
43 }
44 
46 {
47  if (!started_)
48  {
49  VoidConstPtr tracked_object;
51  {
52  tracked_object = tracked_object_.lock();
53  }
55  started_ = true;
56  }
57 }
58 
60 {
61  if (started_)
62  {
63  started_ = false;
65  timer_handle_ = -1;
66  }
67 }
68 
70 {
71  return !period_.isZero();
72 }
73 
75 {
76  if (!isValid() || timer_handle_ == -1)
77  {
78  return false;
79  }
80 
82 }
83 
84 void WallTimer::Impl::setPeriod(const WallDuration& period, bool reset)
85 {
86  period_ = period;
88 }
89 
90 
92 : impl_(new Impl)
93 {
94  impl_->period_ = ops.period;
95  impl_->callback_ = ops.callback;
96  impl_->callback_queue_ = ops.callback_queue;
97  impl_->tracked_object_ = ops.tracked_object;
98  impl_->has_tracked_object_ = (ops.tracked_object != NULL);
99  impl_->oneshot_ = ops.oneshot;
100 }
101 
103 {
104  impl_ = rhs.impl_;
105 }
106 
108 {
109 }
110 
112 {
113  if (impl_)
114  {
115  impl_->start();
116  }
117 }
118 
120 {
121  if (impl_)
122  {
123  impl_->stop();
124  }
125 }
126 
128 {
129  if (impl_)
130  {
131  return impl_->hasPending();
132  }
133 
134  return false;
135 }
136 
137 void WallTimer::setPeriod(const WallDuration& period, bool reset)
138 {
139  if (impl_)
140  {
141  impl_->setPeriod(period, reset);
142  }
143 }
144 
145 }
void remove(int32_t handle)
void stop()
Stop the timer. Once this call returns, no more callbacks will be called. Does nothing if the timer i...
Definition: wall_timer.cpp:119
void setPeriod(const WallDuration &period, bool reset=true)
Set the period of this timer.
Definition: wall_timer.cpp:137
Encapsulates all options available for starting a timer.
WallTimerCallback callback
The callback to call.
ImplPtr impl_
Definition: wall_timer.h:121
void setPeriod(const WallDuration &period, bool reset=true)
Definition: wall_timer.cpp:84
bool hasPending()
Returns whether or not the timer has any pending events to call.
Definition: wall_timer.cpp:127
bool hasPending(int32_t handle)
int32_t add(const D &period, const boost::function< void(const E &)> &callback, CallbackQueueInterface *callback_queue, const VoidConstPtr &tracked_object, bool oneshot)
void start()
Start the timer. Does nothing if the timer is already started.
Definition: wall_timer.cpp:111
WallDuration period_
Definition: wall_timer.h:111
WallTimerCallback callback_
Definition: wall_timer.h:112
CallbackQueueInterface * callback_queue
Queue to add callbacks to. If NULL, the global callback queue will be used.
CallbackQueueInterface * callback_queue_
Definition: wall_timer.h:113
WallDuration period
The period to call the callback at.
VoidConstWPtr tracked_object_
Definition: wall_timer.h:114
static TimerManager & global()
Manages a wall-clock timer callback.
Definition: wall_timer.h:46
#define ROS_DEBUG(...)
void setPeriod(int32_t handle, const D &period, bool reset=true)


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Sun Aug 26 2018 03:03:33