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Merge Viktor's update #51

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merged 4 commits into from
Apr 11, 2024
Merged

Merge Viktor's update #51

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9409d17
Adding implementation of post-hoc callback setting into all relevant …
ViktorWalter Apr 3, 2024
efc74eb
Fixing comments that didn't match implementations.
ViktorWalter Apr 4, 2024
7a3eaaa
Adding mutex to setCallback implementation
ViktorWalter Apr 5, 2024
2d6a66a
Merge pull request #50 from ViktorWalter/settable_callback
klaxalk Apr 11, 2024
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1 change: 1 addition & 0 deletions include/mrs_lib/impl/timer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@ class ThreadTimer::Impl {
void start();
void stop();
void setPeriod(const ros::Duration& duration, const bool reset = true);
void setCallback(const std::function<void(const ros::TimerEvent&)>& callback);

friend class ThreadTimer;

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18 changes: 18 additions & 0 deletions include/mrs_lib/timer.h
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Expand Up @@ -43,6 +43,15 @@ namespace mrs_lib
*/
virtual void setPeriod(const ros::Duration& duration, const bool reset = true) = 0;

/**
* @brief change the callback method
*
* Usable e.g. for running thread with a specific parameter if you bind it using std::bind
*
* @param callback callback method to be called.
*/
virtual void setCallback(const std::function<void(const ros::TimerEvent&)>& callback) = 0;

/**
* @brief returns true if callbacks should be called
*
Expand Down Expand Up @@ -208,6 +217,15 @@ namespace mrs_lib
* @param reset ignored in this implementation.
*/
virtual void setPeriod(const ros::Duration& duration, const bool reset = true) override;

/**
* @brief change the callback method
*
* Usable e.g. for running thread with a specific parameter if you bind it using std::bind
*
* @param callback callback method to be called.
*/
virtual void setCallback(const std::function<void(const ros::TimerEvent&)>& callback) override;

/**
* @brief returns true if callbacks should be called
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16 changes: 16 additions & 0 deletions src/timer/timer.cpp
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Expand Up @@ -93,6 +93,16 @@ void ThreadTimer::setPeriod(const ros::Duration& duration, [[maybe_unused]] cons

//}

/* ThreadTimer::setCallback() //{ */

void ThreadTimer::setCallback(const std::function<void(const ros::TimerEvent&)>& callback) {
if (impl_) {
impl_->setCallback(callback);
}
}

//}

/* ThreadTimer::running() //{ */

bool ThreadTimer::running()
Expand Down Expand Up @@ -159,6 +169,12 @@ void ThreadTimer::Impl::setPeriod(const ros::Duration& duration, [[maybe_unused]
this->oneshot_ = true;
}

void ThreadTimer::Impl::setCallback(const std::function<void(const ros::TimerEvent&)>& callback){
std::scoped_lock lock(mutex_state_);

callback_ = callback;
}

//}

/* ThreadTimer::breakableSleep() method //{ */
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