steady_timer.h

Go to the documentation of this file.

/*
 * Copyright (C) 2017, Felix Ruess, Roboception GmbH
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef ROSCPP_STEADY_TIMER_H
#define ROSCPP_STEADY_TIMER_H
 
#include "common.h"
#include "forwards.h"
#include "steady_timer_options.h"
 
namespace ros
{
 
class ROSCPP_DECL SteadyTimer
{
public:
  SteadyTimer() {}
  SteadyTimer(const SteadyTimer& rhs);
  ~SteadyTimer();
  SteadyTimer& operator=(const SteadyTimer& other) = default;
 
  void start();
  void stop();
 
  bool hasPending();
 
  void setPeriod(const WallDuration& period, bool reset=true);
 
  bool hasStarted() const { return impl_ && impl_->hasStarted(); }
  bool isValid() { return impl_ && impl_->isValid(); }
  operator void*() { return isValid() ? (void *) 1 : (void *) 0; }
 
  bool operator<(const SteadyTimer& rhs)
  {
    return impl_ < rhs.impl_;
  }
 
  bool operator==(const SteadyTimer& rhs)
  {
    return impl_ == rhs.impl_;
  }
 
  bool operator!=(const SteadyTimer& rhs)
  {
    return impl_ != rhs.impl_;
  }
 
private:
  SteadyTimer(const SteadyTimerOptions& ops);
 
  class Impl
  {
  public:
    Impl();
    ~Impl();
 
    bool hasStarted() const;
    bool isValid();
    bool hasPending();
    void setPeriod(const WallDuration &period, bool reset=true);
 
    void start();
    void stop();
 
    bool started_;
    int32_t timer_handle_;
 
    WallDuration period_;
    SteadyTimerCallback callback_;
    CallbackQueueInterface *callback_queue_;
    VoidConstWPtr tracked_object_;
    bool has_tracked_object_;
    bool oneshot_;
  };
  typedef boost::shared_ptr<Impl> ImplPtr;
  typedef boost::weak_ptr<Impl> ImplWPtr;
 
  ImplPtr impl_;
 
  friend class NodeHandle;
};
 
}
 
#endif