timer_handler.hpp

#ifndef MRS_TIMER_HPP
#define MRS_TIMER_HPP
 
#ifndef MRS_TIMER_H
#include <mrs_lib/timer_handler.h>
#endif
 
#include <mutex>
 
namespace mrs_lib
{
 
  // | ----------------------- ThreadTimer ---------------------- |
 
  /* class ThreadTimer::Impl //{ */
 
  class mrs_lib::ThreadTimer::Impl
  {
  public:
    Impl(const rclcpp::Node::SharedPtr& node, const std::function<void()>& callback, const rclcpp::Rate& rate, const bool oneshot);
 
    ~Impl();
 
    void start();
    void stop();
    void setPeriod(const rclcpp::Duration& duration);
    void setCallback(const std::function<void()>& callback);
 
    friend class ThreadTimer;
 
    // to keep rule of five since we have a custom destructor
    Impl(const Impl&) = delete;
    Impl(Impl&&) = delete;
    Impl& operator=(const Impl&) = delete;
    Impl& operator=(Impl&&) = delete;
 
  private:
    std::thread thread_;
    std::function<void()> callback_;
 
    rclcpp::Node::SharedPtr node_;
 
    bool oneshot_;
 
    bool breakableSleep(const rclcpp::Time& until);
    void threadFcn();
 
    std::mutex mutex_wakeup_;
    std::condition_variable wakeup_cond_;
    std::recursive_mutex mutex_state_;
    bool running_;
    std::chrono::nanoseconds delay_dur_;
    bool ending_;
    rclcpp::Time next_expected_;
  };
 
  //}
 
} // namespace mrs_lib
 
#endif // MRS_TIMER_HPP