create_timer_interface.h

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef TF2_ROS__CREATE_TIMER_INTERFACE_H
#define TF2_ROS__CREATE_TIMER_INTERFACE_H
 
#include <functional>
 
#include <rclcpp/rclcpp.hpp>
 
#include <tf2/time.h>
 
#include <tf2_ros/visibility_control.h>
 
namespace tf2_ros
{
 
using TimerHandle = uint64_t;
using TimerCallbackType = std::function<void(const TimerHandle &)>;
 
class CreateTimerInterfaceException: public std::runtime_error
{
public:
  TF2_ROS_PUBLIC
  CreateTimerInterfaceException(const std::string errorDescription)
  : std::runtime_error(errorDescription)
  {
  }
};
 
class InvalidTimerHandleException: public std::runtime_error
{
public:
  TF2_ROS_PUBLIC
  InvalidTimerHandleException(const std::string description)
  : std::runtime_error(description)
  {
  }
};
 
class CreateTimerInterface
{
public:
  using SharedPtr = std::shared_ptr<CreateTimerInterface>;
  using ConstSharedPtr = std::shared_ptr<const CreateTimerInterface>;
  using UniquePtr = std::unique_ptr<CreateTimerInterface>;
 
  TF2_ROS_PUBLIC
  virtual
  ~CreateTimerInterface() = default;
 
  TF2_ROS_PUBLIC
  virtual TimerHandle
  createTimer(
    rclcpp::Clock::SharedPtr clock,
    const tf2::Duration & period,
    TimerCallbackType callback) = 0;
 
  TF2_ROS_PUBLIC
  virtual void
  cancel(const TimerHandle & timer_handle) = 0;
 
  TF2_ROS_PUBLIC
  virtual void
  reset(const TimerHandle & timer_handle) = 0;
 
  TF2_ROS_PUBLIC
  virtual void
  remove(const TimerHandle & timer_handle) = 0;
};  // class CreateTimerInterface
 
}  // namespace tf2_ros
 
#endif // TF2_ROS__CREATE_TIMER_INTERFACE_H