Program Listing for File create_timer_ros.h

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/*
 * 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
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 * 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_