timer.h

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/*
 * Copyright (C) 2009, Willow Garage, Inc.
 *
 * 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 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
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 */
 
#ifndef ROSCPP_TIMER_H
#define ROSCPP_TIMER_H
 
#include "common.h"
#include "forwards.h"
#include "timer_options.h"
 
namespace ros
{
 
class ROSCPP_DECL Timer
{
public:
  Timer() {}
  Timer(const Timer& rhs);
  ~Timer();
  Timer& operator=(const Timer& other) = default;
 
  void start();
  void stop();
 
  bool hasPending();
 
  void setPeriod(const Duration& period, bool reset=true);
 
  bool hasStarted() const { return impl_ && impl_->hasStarted(); }
  bool isValid() { return impl_ && impl_->isValid(); }
  bool isValid() const { return impl_ && impl_->isValid(); }
  operator void*() { return isValid() ? (void*)1 : (void*)0; }
 
  bool operator<(const Timer& rhs)
  {
    return impl_ < rhs.impl_;
  }
 
  bool operator==(const Timer& rhs)
  {
    return impl_ == rhs.impl_;
  }
 
  bool operator!=(const Timer& rhs)
  {
    return impl_ != rhs.impl_;
  }
 
private:
  Timer(const TimerOptions& ops);
 
  class Impl
  {
  public:
    Impl();
    ~Impl();
 
    bool hasStarted() const;
    bool isValid();
    bool isValid() const;
    bool hasPending();
    void setPeriod(const Duration& period, bool reset=true);
 
    void start();
    void stop();
 
    bool started_;
    int32_t timer_handle_;
 
    Duration period_;
    TimerCallback 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