Point Cloud Library (PCL)  1.3.1
time_trigger.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
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00016  *     with the distribution.
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00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00034  * Date: 31. March 2011
00035  * Author: Suat Gedikli (gedikli@willowgarage.com)
00036  *
00037  */
00038 
00039 #ifndef __PCL_TIME_TRIGGER__
00040 #define __PCL_TIME_TRIGGER__
00041 
00042 #include <boost/timer.hpp>
00043 #include <boost/thread.hpp>
00044 #include <boost/thread/condition.hpp>
00045 #include <boost/signals2.hpp>
00046 #include <boost/signals2/slot.hpp>
00047 
00048 #include <pcl/pcl_macros.h>
00049 
00050 namespace pcl
00051 {
00058   class PCL_EXPORTS TimeTrigger
00059   {
00060     public:
00061       typedef boost::function<void() > callback_type;
00067       TimeTrigger (double interval_seconds, const callback_type& callback);
00072       TimeTrigger (double interval_seconds = 1.0);
00076       ~TimeTrigger ();
00082       boost::signals2::connection registerCallback (const callback_type& callback);
00087       void setInterval (double interval_seconds);
00091       void start ();
00095       void stop ();
00096     private:
00097       void thread_function ();
00098       boost::signals2::signal <void() > callbacks_;
00099 
00100       double interval_;
00101 
00102       bool quit_;
00103       bool running_;
00104 
00105       boost::thread timer_thread_;
00106       boost::condition_variable condition_;
00107       boost::mutex condition_mutex_;
00108   };
00109 }
00110 
00111 #endif
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