create_timer_ros.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_ROS_H_
#define TF2_ROS__CREATE_TIMER_ROS_H_
 
#include <tf2_ros/create_timer_interface.h>
#include <tf2_ros/visibility_control.h>
#include <tf2/time.h>
 
#include <rclcpp/rclcpp.hpp>
 
#include <mutex>
#include <unordered_map>
 
namespace tf2_ros
{
 
class CreateTimerROS : public CreateTimerInterface
{
public:
  TF2_ROS_PUBLIC
  CreateTimerROS(
    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
    rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers);
 
  virtual ~CreateTimerROS() = default;
 
  TF2_ROS_PUBLIC
  TimerHandle
  createTimer(
    rclcpp::Clock::SharedPtr clock,
    const tf2::Duration & period,
    TimerCallbackType callback) override;
 
  TF2_ROS_PUBLIC
  void
  cancel(const TimerHandle & timer_handle) override;
 
  TF2_ROS_PUBLIC
  void
  reset(const TimerHandle & timer_handle) override;
 
  TF2_ROS_PUBLIC
  void
  remove(const TimerHandle & timer_handle) override;
 
private:
  void
  cancelNoLock(const TimerHandle & timer_handle);
 
  void
  timerCallback(
    const TimerHandle & timer_handle,
    TimerCallbackType callback);
 
  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr node_timers_;
  TimerHandle next_timer_handle_index_;
  std::unordered_map<TimerHandle, rclcpp::TimerBase::SharedPtr> timers_map_;
  std::mutex timers_map_mutex_;
};  // class CreateTimerROS
 
}  // namespace tf2_ros
 
#endif  // TF2_ROS__CREATE_TIMER_ROS_H_