Point Cloud Library (PCL)  1.9.1
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 #ifndef Q_MOC_RUN
44 #include <boost/function.hpp>
45 #include <boost/thread.hpp>
46 #include <boost/signals2.hpp>
47 #endif
48 
49 namespace pcl
50 {
51  /** \brief Timer class that invokes registered callback methods periodically.
52  * \ingroup common
53  */
54  class PCL_EXPORTS TimeTrigger
55  {
56  public:
57  typedef boost::function<void() > callback_type;
58 
59  /** \brief Timer class that calls a callback method periodically. Due to possible blocking calls, only one callback method can be registered per instance.
60  * \param[in] interval_seconds interval in seconds
61  * \param[in] callback callback to be invoked periodically
62  */
63  TimeTrigger (double interval_seconds, const callback_type& callback);
64 
65  /** \brief Timer class that calls a callback method periodically. Due to possible blocking calls, only one callback method can be registered per instance.
66  * \param[in] interval_seconds interval in seconds
67  */
68  TimeTrigger (double interval_seconds = 1.0);
69 
70  /** \brief Destructor. */
71  ~TimeTrigger ();
72 
73  /** \brief registers a callback
74  * \param[in] callback callback function to the list of callbacks. signature has to be boost::function<void()>
75  * \return connection the connection, which can be used to disable/enable and remove callback from list
76  */
77  boost::signals2::connection registerCallback (const callback_type& callback);
78 
79  /** \brief Resets the timer interval
80  * \param[in] interval_seconds interval in seconds
81  */
82  void
83  setInterval (double interval_seconds);
84 
85  /** \brief Start the Trigger. */
86  void
87  start ();
88 
89  /** \brief Stop the Trigger. */
90  void
91  stop ();
92  private:
93  void
94  thread_function ();
95  boost::signals2::signal <void() > callbacks_;
96 
97  double interval_;
98 
99  bool quit_;
100  bool running_;
101 
102  boost::thread timer_thread_;
103  boost::condition_variable condition_;
104  boost::mutex condition_mutex_;
105  };
106 }
107 
108 #endif
pcl::TimeTrigger::callback_type
boost::function< void() > callback_type
Definition: time_trigger.h:57
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::TimeTrigger
Timer class that invokes registered callback methods periodically.
Definition: time_trigger.h:54