Wrapper around ROS Timer. More...

#include <isolated_async_timer.h>

Public Types
typedef std::function< void(void)>	LambdaCallback

Public Member Functions
	IsolatedAsyncTimer ()=delete
	Default destructor is deleted. More...

	IsolatedAsyncTimer (const ros::NodeHandle &node_handle, const IsolatedAsyncTimer::LambdaCallback &callback, const float &frequency, bool stoppable=true, bool autostart=true, bool oneshot=false)
	Constructor. More...

	IsolatedAsyncTimer (const ros::NodeHandle &node_handle, const ros::TimerCallback &callback, const float &frequency, bool stoppable=true, bool autostart=true, bool oneshot=false)
	Constructor. More...

bool	isValid ()
	Returns true if timer is valid. More...

void	pause ()
	Pauses the timer. More...

void	resume ()
	Resumes the timer. More...

void	setRate (const float &frequency, bool reset=true)
	Sets a new rate to the timer. More...

void	start ()
	Starts the timer. More...

void	stop ()
	Stops the timer if set to stoppable. More...

	~IsolatedAsyncTimer ()
	Default destructor. More...

Static Public Member Functions
static ros::TimerCallback	to_timer_callback (const IsolatedAsyncTimer::LambdaCallback &callback)
	Converts a Lambda callback to valid ros::TimerCallback. More...

Private Member Functions
ros::TimerCallback	wrapTimerCallback (const ros::TimerCallback &callback) const
	Wraps a ros::TimerCallback with additional functionality. More...

Private Attributes
ros::TimerCallback	callback_
	Actual ros::TimerCallback used in the timer. More...

ros::CallbackQueue	callback_queue_
	Seperate callback queue for the timer. More...

float	frequency_
	Frequency in Hz of the timer. More...

ros::NodeHandle	node_handle_
	Node handle used to create the actual ros::Timer. More...

std::atomic< bool >	paused_
	Atomic bool that determines whether timer is paused or not. More...

ros::Duration	period_
	Duration between consecutive callback executions. More...

std::shared_ptr< ros::AsyncSpinner >	spinner_
	Shared pointer to the actual ros::AsyncSpiner that serves the callback queue in the background. More...

std::atomic< bool >	stoppable_
	Atomic bool that determines whether timer is stoppable or not. More...

std::shared_ptr< ros::Timer >	timer_
	Shared pointer to the actual ros::Timer object. More...

ros::TimerOptions	timer_ops_
	Timer options needed for. More...

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 ( )

delete

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 )

inlinestatic

Converts a Lambda callback to valid ros::TimerCallback.

Parameters

callback Lambda callback i.e. an std::function<void(void)>

Returns: ros::TimerCallback that can be used to create a ros::Timer

Definition at line 219 of file isolated_async_timer.h.

ros::TimerCallback robot_activity::IsolatedAsyncTimer::wrapTimerCallback ( const ros::TimerCallback & callback ) const

inlineprivate

Wraps a ros::TimerCallback with additional functionality.

The returned callback returns immediately if it's stoppable and paused. It also checks if the loop missed it's desired rate.

Parameters

callback ros::TimerCallback to be wrapped

Returns: Wrapped ros::TimerCallback

Definition at line 237 of file isolated_async_timer.h.

Member Data Documentation

ros::TimerCallback robot_activity::IsolatedAsyncTimer::callback_

private

Actual ros::TimerCallback used in the timer.

Definition at line 280 of file isolated_async_timer.h.

ros::CallbackQueue robot_activity::IsolatedAsyncTimer::callback_queue_

private

Seperate callback queue for the timer.

Definition at line 285 of file isolated_async_timer.h.

float robot_activity::IsolatedAsyncTimer::frequency_

private

Frequency in Hz of the timer.

Definition at line 265 of file isolated_async_timer.h.

ros::NodeHandle robot_activity::IsolatedAsyncTimer::node_handle_

private

Node handle used to create the actual ros::Timer.

Definition at line 260 of file isolated_async_timer.h.

std::atomic<bool> robot_activity::IsolatedAsyncTimer::paused_

private

Atomic bool that determines whether timer is paused or not.

Definition at line 307 of file isolated_async_timer.h.

ros::Duration robot_activity::IsolatedAsyncTimer::period_

private

Duration between consecutive callback executions.

Definition at line 270 of file isolated_async_timer.h.

std::shared_ptr<ros::AsyncSpinner> robot_activity::IsolatedAsyncTimer::spinner_

private

Shared pointer to the actual ros::AsyncSpiner that serves the callback queue in the background.

Definition at line 297 of file isolated_async_timer.h.

std::atomic<bool> robot_activity::IsolatedAsyncTimer::stoppable_

private

Atomic bool that determines whether timer is stoppable or not.

Definition at line 302 of file isolated_async_timer.h.

std::shared_ptr<ros::Timer> robot_activity::IsolatedAsyncTimer::timer_

private

Shared pointer to the actual ros::Timer object.

Definition at line 291 of file isolated_async_timer.h.

ros::TimerOptions robot_activity::IsolatedAsyncTimer::timer_ops_

private

Timer options needed for.

Definition at line 275 of file isolated_async_timer.h.

The documentation for this class was generated from the following file:

isolated_async_timer.h

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation