Point Cloud Library (PCL) 1.13.0
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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
50namespace pcl
51{
52 /** \brief Timer class that invokes registered callback methods periodically.
53 * \ingroup common
54 */
55 class PCL_EXPORTS TimeTrigger
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
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.
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
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.