.. _program_listing_file__tmp_ws_src_geometry2_tf2_ros_include_tf2_ros_create_timer_ros.h:

Program Listing for File create_timer_ros.h
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_geometry2_tf2_ros_include_tf2_ros_create_timer_ros.h>` (``/tmp/ws/src/geometry2/tf2_ros/include/tf2_ros/create_timer_ros.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2019, Open Source Robotics Foundation, Inc.
    * All rights reserved.
    *
    * 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 name of the 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 TF2_ROS__CREATE_TIMER_ROS_H_
   #define TF2_ROS__CREATE_TIMER_ROS_H_
   
   #include <mutex>
   #include <unordered_map>
   
   #include "tf2_ros/create_timer_interface.h"
   #include "tf2_ros/visibility_control.h"
   #include "tf2/time.h"
   
   #include "rclcpp/rclcpp.hpp"
   
   namespace tf2_ros
   {
   
   class CreateTimerROS : public CreateTimerInterface
   {
   public:
     TF2_ROS_PUBLIC
     CreateTimerROS(
       rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
       rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers,
       rclcpp::CallbackGroup::SharedPtr callback_group = nullptr);
   
     virtual ~CreateTimerROS() = default;
   
     TF2_ROS_PUBLIC
     TimerHandle
     createTimer(
       rclcpp::Clock::SharedPtr clock,
       const tf2::Duration & period,
       TimerCallbackType callback) override;
   
     TF2_ROS_PUBLIC
     void
     cancel(const TimerHandle & timer_handle) override;
   
     TF2_ROS_PUBLIC
     void
     reset(const TimerHandle & timer_handle) override;
   
     TF2_ROS_PUBLIC
     void
     remove(const TimerHandle & timer_handle) override;
   
   private:
     void
     cancelNoLock(const TimerHandle & timer_handle);
   
     void
     timerCallback(
       const TimerHandle & timer_handle,
       TimerCallbackType callback);
   
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
     rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
     TimerHandle next_timer_handle_index_;
     std::unordered_map<TimerHandle, rclcpp::TimerBase::SharedPtr> timers_map_;
     std::mutex timers_map_mutex_;
   
     rclcpp::CallbackGroup::SharedPtr callback_group_;
   };  // class CreateTimerROS
   
   }  // namespace tf2_ros
   
   #endif  // TF2_ROS__CREATE_TIMER_ROS_H_