Point Cloud Library (PCL)  1.7.0
time_trigger.h
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38 
39 #ifndef PCL_COMMON_TIME_TRIGGER_H_
40 #define PCL_COMMON_TIME_TRIGGER_H_
41 
42 #include <pcl/pcl_macros.h>
43 #include <boost/function.hpp>
44 #include <boost/thread.hpp>
45 #include <boost/signals2.hpp>
46 
47 namespace pcl
48 {
49  /** \brief Timer class that invokes registered callback methods periodically.
50  * \ingroup common
51  */
52  class PCL_EXPORTS TimeTrigger
53  {
54  public:
55  typedef boost::function<void() > callback_type;
56 
57  /** \brief Timer class that calls a callback method periodically. Due to possible blocking calls, only one callback method can be registered per instance.
58  * \param[in] interval_seconds interval in seconds
59  * \param[in] callback callback to be invoked periodically
60  */
61  TimeTrigger (double interval_seconds, const callback_type& callback);
62 
63  /** \brief Timer class that calls a callback method periodically. Due to possible blocking calls, only one callback method can be registered per instance.
64  * \param[in] interval_seconds interval in seconds
65  */
66  TimeTrigger (double interval_seconds = 1.0);
67 
68  /** \brief Destructor. */
69  ~TimeTrigger ();
70 
71  /** \brief registeres a callback
72  * \param[in] callback callback function to the list of callbacks. signature has to be boost::function<void()>
73  * \return connection the connection, which can be used to disable/enable and remove callback from list
74  */
75  boost::signals2::connection registerCallback (const callback_type& callback);
76 
77  /** \brief Resets the timer interval
78  * \param[in] interval_seconds interval in seconds
79  */
80  void
81  setInterval (double interval_seconds);
82 
83  /** \brief Start the Trigger. */
84  void
85  start ();
86 
87  /** \brief Stop the Trigger. */
88  void
89  stop ();
90  private:
91  void
92  thread_function ();
93  boost::signals2::signal <void() > callbacks_;
94 
95  double interval_;
96 
97  bool quit_;
98  bool running_;
99 
100  boost::thread timer_thread_;
101  boost::condition_variable condition_;
102  boost::mutex condition_mutex_;
103  };
104 }
105 
106 #endif
Timer class that invokes registered callback methods periodically.
Definition: time_trigger.h:52
boost::function< void() > callback_type
Definition: time_trigger.h:55