Point Cloud Library (PCL)  1.11.1-dev
time_trigger.h
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38 
39 #pragma once
40 
41 #include <pcl/pcl_macros.h>
42 #ifndef Q_MOC_RUN
43 #include <boost/signals2.hpp>
44 #endif
45 
46 #include <condition_variable>
47 #include <functional>
48 #include <mutex>
49 #include <thread>
50 
51 namespace pcl
52 {
53  /** \brief Timer class that invokes registered callback methods periodically.
54  * \ingroup common
55  */
57  {
58  public:
59  using callback_type = std::function<void ()>;
60 
61  /** \brief Timer class that calls a callback method periodically. Due to possible blocking calls, only one callback method can be registered per instance.
62  * \param[in] interval_seconds interval in seconds
63  * \param[in] callback callback to be invoked periodically
64  */
65  TimeTrigger (double interval_seconds, const callback_type& callback);
66 
67  /** \brief Timer class that calls a callback method periodically. Due to possible blocking calls, only one callback method can be registered per instance.
68  * \param[in] interval_seconds interval in seconds
69  */
70  TimeTrigger (double interval_seconds = 1.0);
71 
72  /** \brief Destructor. */
73  ~TimeTrigger ();
74 
75  /** \brief registers a callback
76  * \param[in] callback callback function to the list of callbacks. signature has to be std::function<void()>
77  * \return connection the connection, which can be used to disable/enable and remove callback from list
78  */
79  boost::signals2::connection registerCallback (const callback_type& callback);
80 
81  /** \brief Resets the timer interval
82  * \param[in] interval_seconds interval in seconds
83  */
84  void
85  setInterval (double interval_seconds);
86 
87  /** \brief Start the Trigger. */
88  void
89  start ();
90 
91  /** \brief Stop the Trigger. */
92  void
93  stop ();
94  private:
95  void
96  thread_function ();
97  boost::signals2::signal <void() > callbacks_;
98 
99  double interval_;
100 
101  bool quit_;
102  bool running_;
103 
104  std::thread timer_thread_;
105  std::condition_variable condition_;
106  std::mutex condition_mutex_;
107  };
108 }
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::TimeTrigger
Timer class that invokes registered callback methods periodically.
Definition: time_trigger.h:56
pcl::TimeTrigger::callback_type
std::function< void()> callback_type
Definition: time_trigger.h:59
PCL_EXPORTS
#define PCL_EXPORTS
Definition: pcl_macros.h:323