mrs_lib::MRSTimer Class Reference

Common wrapper representing the functionality of the rclcpp::Timer. More...

#include <timer_handler.h>

Inheritance diagram for mrs_lib::MRSTimer:

Public Types
using	callback_t = std::function< void()>

Public Member Functions
virtual void	stop ()=0
	stop the timer
virtual void	start ()=0
	start the timer
virtual void	setPeriod (const rclcpp::Duration &duration)=0
	set the timer period/duration
virtual void	setCallback (const std::function< void()> &callback)=0
	change the callback method
virtual bool	running ()=0
	returns true if callbacks should be called
	MRSTimer (const MRSTimer &)=default
	MRSTimer (MRSTimer &&)=default
MRSTimer &	operator= (const MRSTimer &)=default
MRSTimer &	operator= (MRSTimer &&)=default

Protected Attributes
rclcpp::Node::SharedPtr	node_

Detailed Description

Common wrapper representing the functionality of the rclcpp::Timer.

The implementation can then use either rclcpp::Timer (the ROSTimer class) or threads and synchronization primitives from the C++ standard library (the ThreadTimer class). Both these variants implement the same interface.

Note

Functionality of the two implementations differs in some details.

Member Function Documentation

running()

virtual bool mrs_lib::MRSTimer::running ( )

pure virtual

returns true if callbacks should be called

Returns

true if timer is running

Implemented in mrs_lib::ROSTimer, and mrs_lib::ThreadTimer.

setCallback()

virtual void mrs_lib::MRSTimer::setCallback ( const std::function< void()> &  callback )

pure virtual

change the callback method

Usable e.g. for running thread with a specific parameter if you bind it using std::bind

Parameters

callback

callback method to be called.

Implemented in mrs_lib::ROSTimer, and mrs_lib::ThreadTimer.

setPeriod()

virtual void mrs_lib::MRSTimer::setPeriod ( const rclcpp::Duration &  duration )

pure virtual

set the timer period/duration

Parameters

duration
reset

Implemented in mrs_lib::ROSTimer, and mrs_lib::ThreadTimer.

start()

virtual void mrs_lib::MRSTimer::start ( )

pure virtual

start the timer

Implemented in mrs_lib::ROSTimer, and mrs_lib::ThreadTimer.

stop()

virtual void mrs_lib::MRSTimer::stop ( )

pure virtual

stop the timer

Implemented in mrs_lib::ROSTimer, and mrs_lib::ThreadTimer.

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The documentation for this class was generated from the following file:

• include/mrs_lib/timer_handler.h