timer.h

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#ifndef TESSERACT_COMMON_TIMER_H
#define TESSERACT_COMMON_TIMER_H
 
#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <functional>
#include <chrono>
#include <thread>
#include <atomic>
TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
namespace tesseract_common
{
class Timer
{
public:
  Timer() = default;
  ~Timer();
  Timer(const Timer&) = delete;
  Timer& operator=(const Timer&) = delete;
  Timer(Timer&&) = delete;
  Timer& operator=(Timer&&) = delete;
 
  void start(const std::function<void()>& callback, std::chrono::steady_clock::duration interval);
 
  void stop();
 
private:
  std::atomic<bool> running_{ false };
  std::thread timer_thread_;
};
 
}  // namespace tesseract_common
#endif  // TESSERACT_COMMON_TIMER_H