Point Cloud Library (PCL)  1.13.1-dev
time_trigger.h
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38 
39 #pragma once
40 
41 #include <pcl/pcl_macros.h>
42 
43 #include <boost/signals2.hpp>
44 
45 #include <condition_variable>
46 #include <functional>
47 #include <mutex>
48 #include <thread>
49 
50 namespace pcl
51 {
52  /** \brief Timer class that invokes registered callback methods periodically.
53  * \ingroup common
54  */
56  {
57  public:
58  using callback_type = std::function<void ()>;
59 
60  /** \brief Timer class that calls a callback method periodically. Due to possible blocking calls, only one callback method can be registered per instance.
61  * \param[in] interval_seconds interval in seconds
62  * \param[in] callback callback to be invoked periodically
63  */
64  TimeTrigger (double interval_seconds, const callback_type& callback);
65 
66  /** \brief Timer class that calls a callback method periodically. Due to possible blocking calls, only one callback method can be registered per instance.
67  * \param[in] interval_seconds interval in seconds
68  */
69  TimeTrigger (double interval_seconds = 1.0);
70 
71  /** \brief Destructor. */
73 
74  /** \brief registers a callback
75  * \param[in] callback callback function to the list of callbacks. signature has to be std::function<void()>
76  * \return connection the connection, which can be used to disable/enable and remove callback from list
77  */
78  boost::signals2::connection registerCallback (const callback_type& callback);
79 
80  /** \brief Resets the timer interval
81  * \param[in] interval_seconds interval in seconds
82  */
83  void
84  setInterval (double interval_seconds);
85 
86  /** \brief Start the Trigger. */
87  void
88  start ();
89 
90  /** \brief Stop the Trigger. */
91  void
92  stop ();
93  private:
94  void
95  thread_function ();
96  boost::signals2::signal <void() > callbacks_;
97 
98  double interval_;
99 
100  bool quit_;
101  bool running_;
102 
103  std::thread timer_thread_;
104  std::condition_variable condition_;
105  std::mutex condition_mutex_;
106  };
107 }
Timer class that invokes registered callback methods periodically.
Definition: time_trigger.h:56
void stop()
Stop the Trigger.
TimeTrigger(double interval_seconds=1.0)
Timer class that calls a callback method periodically.
void setInterval(double interval_seconds)
Resets the timer interval.
void start()
Start the Trigger.
boost::signals2::connection registerCallback(const callback_type &callback)
registers a callback
std::function< void()> callback_type
Definition: time_trigger.h:58
TimeTrigger(double interval_seconds, const callback_type &callback)
Timer class that calls a callback method periodically.
~TimeTrigger()
Destructor.
Defines all the PCL and non-PCL macros used.
#define PCL_EXPORTS
Definition: pcl_macros.h:323