time_trigger.h

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#ifndef __PCL_TIME_TRIGGER__
#define __PCL_TIME_TRIGGER__

#include <boost/timer.hpp>
#include <boost/thread.hpp>
#include <boost/thread/condition.hpp>
#include <boost/signals2.hpp>
#include <boost/signals2/slot.hpp>

#include <pcl/pcl_macros.h>

namespace pcl
{
  class PCL_EXPORTS TimeTrigger
  {
    public:
      typedef boost::function<void() > callback_type;

      TimeTrigger (double interval_seconds, const callback_type& callback);

      TimeTrigger (double interval_seconds = 1.0);

      ~TimeTrigger ();

      boost::signals2::connection registerCallback (const callback_type& callback);

      void 
      setInterval (double interval_seconds);

      void 
      start ();

      void 
      stop ();
    private:
      void 
      thread_function ();
      boost::signals2::signal <void() > callbacks_;

      double interval_;

      bool quit_;
      bool running_;

      boost::thread timer_thread_;
      boost::condition_variable condition_;
      boost::mutex condition_mutex_;
  };
}

#endif