mrs_lib::ThreadTimer Class Reference

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

#include <timer_handler.h>

Inheritance diagram for mrs_lib::ThreadTimer:

Collaboration diagram for mrs_lib::ThreadTimer:

Public Member Functions
	ThreadTimer (const rclcpp::Node::SharedPtr &node, const rclcpp::Rate &rate, const std::function< void()> &callback)
	ThreadTimer (const mrs_lib::TimerHandlerOptions &opts, const rclcpp::Rate &rate, const std::function< void()> &callback)
virtual void	stop () override
	stop the timer
virtual void	start () override
	start the timer
virtual void	setPeriod (const rclcpp::Duration &duration) override
	set the timer period/duration
virtual void	setCallback (const std::function< void()> &callback) override
	change the callback method
virtual bool	running () override
	returns true if callbacks should be called
virtual	~ThreadTimer () override
	stops the timer and then destroys the object
	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()>
Protected Attributes inherited from mrs_lib::MRSTimer
rclcpp::Node::SharedPtr	node_

Detailed Description

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

Constructor & Destructor Documentation

~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()> &  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 rclcpp::Duration &  duration )

overridevirtual

set the timer period/duration

The new period will be applied after the next callback.

Parameters

duration

the new desired callback period.

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.

---

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

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