timer.cpp

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#include <tesseract_common/timer.h>
 
namespace tesseract_common
{
Timer::~Timer() { stop(); }
 
void Timer::start(const std::function<void()>& callback, std::chrono::steady_clock::duration interval)
{
  running_ = true;
  timer_thread_ = std::thread([this, callback, interval]() {
    while (running_)
    {
      auto next_time = std::chrono::steady_clock::now() + interval;
      callback();  // Call the provided function
      std::this_thread::sleep_until(next_time);
    }
  });
}
 
void Timer::stop()
{
  running_ = false;
  if (timer_thread_.joinable())
    timer_thread_.join();
}
 
}  // namespace tesseract_common