mrs_lib::ThreadTimer Class Reference

Custom thread-based Timers with the same interface as mrs_lib::ROSTimer. More...

#include <timer.h>

Inheritance diagram for mrs_lib::ThreadTimer:

Collaboration diagram for mrs_lib::ThreadTimer:

Public Member Functions
template<class ObjectType >
	ThreadTimer (const ros::NodeHandle &nh, const ros::Rate &rate, void(ObjectType::*const callback)(const ros::TimerEvent &), ObjectType *const obj, const bool oneshot=false, const bool autostart=true)
	Constructs the object. More...
template<class ObjectType >
	ThreadTimer (const ros::NodeHandle &nh, const ros::Duration &duration, void(ObjectType::*const callback)(const ros::TimerEvent &), ObjectType *const obj, bool oneshot=false, const bool autostart=true)
	Constructs the object. More...
virtual void	stop () override
	stop the timer More...
virtual void	start () override
	start the timer More...
virtual void	setPeriod (const ros::Duration &duration, const bool reset=true) override
	set the timer period/duration More...
virtual void	setCallback (const std::function< void(const ros::TimerEvent &)> &callback) override
	change the callback method More...
virtual bool	running () override
	returns true if callbacks should be called More...
virtual	~ThreadTimer () override
	stops the timer and then destroys the object More...
	ThreadTimer (const ThreadTimer &)=delete
	ThreadTimer (ThreadTimer &&)=delete
ThreadTimer &	operator= (const ThreadTimer &)=delete
ThreadTimer &	operator= (ThreadTimer &&)=delete
Public Member Functions inherited from mrs_lib::MRSTimer
	MRSTimer (const MRSTimer &)=default
	MRSTimer (MRSTimer &&)=default
MRSTimer &	operator= (const MRSTimer &)=default
MRSTimer &	operator= (MRSTimer &&)=default

Additional Inherited Members
Public Types inherited from mrs_lib::MRSTimer
using	callback_t = std::function< void(const ros::TimerEvent &)>

Detailed Description

Custom thread-based Timers with the same interface as mrs_lib::ROSTimer.

Constructor & Destructor Documentation

ThreadTimer() [1/2]

template<class ObjectType >

mrs_lib::ThreadTimer::ThreadTimer	(	const ros::NodeHandle &	nh,
		const ros::Rate &	rate,
		void(ObjectType::*)(const ros::TimerEvent &)	callback,
		ObjectType *const	obj,
		const bool	oneshot = false,
		const bool	autostart = true
	)

Constructs the object.

Template Parameters

ObjectType

Parameters

nh	ignored (used just for consistency with ROSTimer)
rate	rate at which the callback should be called.
ObjectType::*const	callback callback method to be called.
obj	object for the method.
oneshot	whether the callback should only be called once after starting.
autostart	whether the timer should immediately start after construction.

ThreadTimer() [2/2]

template<class ObjectType >

mrs_lib::ThreadTimer::ThreadTimer	(	const ros::NodeHandle &	nh,
		const ros::Duration &	duration,
		void(ObjectType::*)(const ros::TimerEvent &)	callback,
		ObjectType *const	obj,
		bool	oneshot = false,
		const bool	autostart = true
	)

Constructs the object.

Template Parameters

ObjectType

Parameters

nh	ignored (used just for consistency with ROSTimer)
duration	desired callback period.
ObjectType::*const	callback callback method to be called.
obj	object for the method.
oneshot	whether the callback should only be called once after starting.
autostart	whether the timer should immediately start after construction.

~ThreadTimer()

virtual mrs_lib::ThreadTimer::~ThreadTimer ( )

inlineoverridevirtual

stops the timer and then destroys the object

No more callbacks will be called when the destructor is started.

Member Function Documentation

running()

bool mrs_lib::ThreadTimer::running ( )

overridevirtual

returns true if callbacks should be called

Returns

true if timer is running

Implements mrs_lib::MRSTimer.

setCallback()

void mrs_lib::ThreadTimer::setCallback ( const std::function< void(const ros::TimerEvent &)> &  callback )

overridevirtual

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.

Implements mrs_lib::MRSTimer.

setPeriod()

void mrs_lib::ThreadTimer::setPeriod ( const ros::Duration &  duration, const bool  reset = true  )

overridevirtual

set the timer period/duration

The new period will be applied after the next callback.

Parameters

duration	the new desired callback period.
reset	ignored in this implementation.

Implements mrs_lib::MRSTimer.

start()

void mrs_lib::ThreadTimer::start ( )

overridevirtual

start the timer

The first callback will be called in now + period.

Note

If the timer is already started, nothing will change.

Implements mrs_lib::MRSTimer.

stop()

void mrs_lib::ThreadTimer::stop ( )

overridevirtual

stop the timer

No more callbacks will be called after this method returns.

Implements mrs_lib::MRSTimer.

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

• include/mrs_lib/timer.h
• src/timer/timer.cpp