/usr/include/ros/wall_timer.h is in libroscpp-dev 1.13.5+ds1-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* Copyright (C) 2009, Willow Garage, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright 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 names of Stanford University or 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"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROSCPP_WALL_TIMER_H
#define ROSCPP_WALL_TIMER_H
#include "common.h"
#include "forwards.h"
#include "wall_timer_options.h"
namespace ros
{
/**
* \brief Manages a wall-clock timer callback
*
* A WallTimer should always be created through a call to NodeHandle::createWallTimer(), or copied from one
* that was. Once all copies of a specific
* WallTimer go out of scope, the callback associated with that handle will stop
* being called.
*/
class ROSCPP_DECL WallTimer
{
public:
WallTimer() {}
WallTimer(const WallTimer& rhs);
~WallTimer();
/**
* \brief Start the timer. Does nothing if the timer is already started.
*/
void start();
/**
* \brief Stop the timer. Once this call returns, no more callbacks will be called. Does
* nothing if the timer is already stopped.
*/
void stop();
/**
* \brief Returns whether or not the timer has any pending events to call.
*/
bool hasPending();
/**
* \brief Set the period of this timer
* \param reset Whether to reset the timer. If true, timer ignores elapsed time and next cb occurs at now()+period
*/
void setPeriod(const WallDuration& period, bool reset=true);
bool isValid() { return impl_ && impl_->isValid(); }
operator void*() { return isValid() ? (void*)1 : (void*)0; }
bool operator<(const WallTimer& rhs)
{
return impl_ < rhs.impl_;
}
bool operator==(const WallTimer& rhs)
{
return impl_ == rhs.impl_;
}
bool operator!=(const WallTimer& rhs)
{
return impl_ != rhs.impl_;
}
private:
WallTimer(const WallTimerOptions& ops);
class Impl
{
public:
Impl();
~Impl();
bool isValid();
bool hasPending();
void setPeriod(const WallDuration& period, bool reset=true);
void start();
void stop();
bool started_;
int32_t timer_handle_;
WallDuration period_;
WallTimerCallback callback_;
CallbackQueueInterface* callback_queue_;
VoidConstWPtr tracked_object_;
bool has_tracked_object_;
bool oneshot_;
};
typedef boost::shared_ptr<Impl> ImplPtr;
typedef boost::weak_ptr<Impl> ImplWPtr;
ImplPtr impl_;
friend class NodeHandle;
};
}
#endif
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