Point Cloud Library (PCL)
1.7.0
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2012, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 */ 00038 00039 #ifndef PCL_COMMON_TIME_TRIGGER_H_ 00040 #define PCL_COMMON_TIME_TRIGGER_H_ 00041 00042 #include <pcl/pcl_macros.h> 00043 #include <boost/function.hpp> 00044 #include <boost/thread.hpp> 00045 #include <boost/signals2.hpp> 00046 00047 namespace pcl 00048 { 00049 /** \brief Timer class that invokes registered callback methods periodically. 00050 * \ingroup common 00051 */ 00052 class PCL_EXPORTS TimeTrigger 00053 { 00054 public: 00055 typedef boost::function<void() > callback_type; 00056 00057 /** \brief Timer class that calls a callback method periodically. Due to possible blocking calls, only one callback method can be registered per instance. 00058 * \param[in] interval_seconds interval in seconds 00059 * \param[in] callback callback to be invoked periodically 00060 */ 00061 TimeTrigger (double interval_seconds, const callback_type& callback); 00062 00063 /** \brief Timer class that calls a callback method periodically. Due to possible blocking calls, only one callback method can be registered per instance. 00064 * \param[in] interval_seconds interval in seconds 00065 */ 00066 TimeTrigger (double interval_seconds = 1.0); 00067 00068 /** \brief Destructor. */ 00069 ~TimeTrigger (); 00070 00071 /** \brief registeres a callback 00072 * \param[in] callback callback function to the list of callbacks. signature has to be boost::function<void()> 00073 * \return connection the connection, which can be used to disable/enable and remove callback from list 00074 */ 00075 boost::signals2::connection registerCallback (const callback_type& callback); 00076 00077 /** \brief Resets the timer interval 00078 * \param[in] interval_seconds interval in seconds 00079 */ 00080 void 00081 setInterval (double interval_seconds); 00082 00083 /** \brief Start the Trigger. */ 00084 void 00085 start (); 00086 00087 /** \brief Stop the Trigger. */ 00088 void 00089 stop (); 00090 private: 00091 void 00092 thread_function (); 00093 boost::signals2::signal <void() > callbacks_; 00094 00095 double interval_; 00096 00097 bool quit_; 00098 bool running_; 00099 00100 boost::thread timer_thread_; 00101 boost::condition_variable condition_; 00102 boost::mutex condition_mutex_; 00103 }; 00104 } 00105 00106 #endif