time_trigger.cpp
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00001 /*
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00037 
00038 #include <pcl/common/time_trigger.h>
00039 #include <pcl/common/time.h>
00040 #include <iostream>
00041 
00043 pcl::TimeTrigger::TimeTrigger (double interval, const callback_type& callback)
00044 : callbacks_ ()
00045 , interval_ (interval)
00046 , quit_ (false)
00047 , running_ (false)
00048 , timer_thread_ ()
00049 , condition_ ()
00050 , condition_mutex_ ()
00051 {
00052   timer_thread_ = boost::thread (boost::bind (&TimeTrigger::thread_function, this));
00053   registerCallback (callback);
00054 }
00055 
00057 pcl::TimeTrigger::TimeTrigger (double interval)
00058 : callbacks_ ()
00059 , interval_ (interval)
00060 , quit_ (false)
00061 , running_ (false)
00062 , timer_thread_ ()
00063 , condition_ ()
00064 , condition_mutex_ ()
00065 {
00066   timer_thread_ = boost::thread (boost::bind (&TimeTrigger::thread_function, this));
00067 }
00068 
00070 pcl::TimeTrigger::~TimeTrigger ()
00071 {
00072   boost::unique_lock<boost::mutex> lock (condition_mutex_);
00073   quit_ = true;
00074   condition_.notify_all ();
00075   lock.unlock ();
00076   
00077   timer_thread_.join ();
00078 }
00079 
00081 boost::signals2::connection 
00082 pcl::TimeTrigger::registerCallback (const callback_type& callback)
00083 {
00084   boost::unique_lock<boost::mutex> lock (condition_mutex_);
00085   return (callbacks_.connect (callback));
00086 }
00087 
00089 void 
00090 pcl::TimeTrigger::setInterval (double interval_seconds)
00091 {
00092   boost::unique_lock<boost::mutex> lock (condition_mutex_);
00093   interval_ = interval_seconds;
00094   // notify, since we could switch from a large interval to a shorter one -> interrupt waiting for timeout!
00095   condition_.notify_all ();
00096 }
00097 
00099 void 
00100 pcl::TimeTrigger::start ()
00101 {
00102   boost::unique_lock<boost::mutex> lock (condition_mutex_);
00103   if (!running_)
00104   {
00105     running_ = true;
00106     condition_.notify_all ();
00107   }
00108 }
00109 
00111 void 
00112 pcl::TimeTrigger::stop ()
00113 {
00114   boost::unique_lock<boost::mutex> lock (condition_mutex_);
00115   if (running_)
00116   {
00117     running_ = false;
00118     condition_.notify_all ();
00119   }
00120 }
00121 
00123 void 
00124 pcl::TimeTrigger::thread_function ()
00125 {
00126   static double time = 0;
00127   while (!quit_)
00128   {
00129     time = getTime ();
00130     boost::unique_lock<boost::mutex> lock (condition_mutex_);
00131     if (!running_)
00132       condition_.wait (lock); // wait util start is called or destructor is called
00133     else
00134     {
00135       callbacks_();
00136       double rest = interval_ + time - getTime ();
00137       condition_.timed_wait (lock, boost::posix_time::microseconds (static_cast<int64_t> ((rest * 1000000))));
00138     }
00139   }
00140 }
00141 


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:18:47