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)
template<typename C >
	ThreadTimer (const mrs_lib::TimerHandlerOptions &opts, const rclcpp::Rate &rate, Task<>(C::*method)(), C *instance)
	Create thread timer with coroutine callback.
template<typename C >
	ThreadTimer (const mrs_lib::TimerHandlerOptions &opts, const rclcpp::Rate &rate, Task<>(C::*method)(), std::shared_ptr< C > instance)
	Create thread timer with coroutine 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()>
Static Protected Member Functions inherited from mrs_lib::MRSTimer
template<typename C >
static std::function< void()>	createNonReentrantCallback (Task<>(C::*method)(), C *instance)
	Create a callback for coroutine that should only run once at a time.
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() [1/2]

template<typename C >

mrs_lib::ThreadTimer::ThreadTimer ( const mrs_lib::TimerHandlerOptions &  opts, const rclcpp::Rate &  rate, Task<>(C::*)()  method, C *  instance  )

inline

Create thread timer with coroutine callback.

Using coroutine callbacks is only allowed with reentrant callback group. If the specified callback group is not reentrant, this throws an exception.

To make the callback design simpler, the coroutine itself will not run again until the previous one completely finished.

ThreadTimer() [2/2]

template<typename C >

mrs_lib::ThreadTimer::ThreadTimer ( const mrs_lib::TimerHandlerOptions &  opts, const rclcpp::Rate &  rate, Task<>(C::*)()  method, std::shared_ptr< C >  instance  )

inline

Create thread timer with coroutine callback.

Using coroutine callbacks is only allowed with reentrant callback group. If the specified callback group is not reentrant, this throws an exception.

To make the callback design simpler, the coroutine itself will not run again until the previous one completely finished.

~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.

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

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