roscpp: copy hasStarted() member function from ros::Timer to ros::Wal…

…lTimer and ros::SteadyTimer ros::Timer::hasStarted() has been added in #1464. The same member function should exist in the other two timer implementations, too, for completeness.
ros · Dec 6, 2018 · fdca164 · fdca164
1 parent 56ecdfa
commit fdca164
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Showing 3 changed files with 16 additions and 5 deletions.
diff --git a/clients/roscpp/include/ros/steady_timer.h b/clients/roscpp/include/ros/steady_timer.h
@@ -67,9 +67,11 @@ class ROSCPP_DECL SteadyTimer
 
   /**
    * \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 hasStarted() const { return impl_->hasStarted(); }
   bool isValid() { return impl_ && impl_->isValid(); }
   operator void*() { return isValid() ? (void *) 1 : (void *) 0; }
 
@@ -97,6 +99,7 @@ class ROSCPP_DECL SteadyTimer
     Impl();
     ~Impl();
 
+    bool hasStarted() const;
     bool isValid();
     bool hasPending();
     void setPeriod(const WallDuration &period, bool reset=true);

diff --git a/clients/roscpp/include/ros/wall_timer.h b/clients/roscpp/include/ros/wall_timer.h
@@ -71,6 +71,7 @@ class ROSCPP_DECL WallTimer
    */
   void setPeriod(const WallDuration& period, bool reset=true);
 
+  bool hasStarted() const { return impl_->hasStarted(); }
   bool isValid() { return impl_ && impl_->isValid(); }
   operator void*() { return isValid() ? (void*)1 : (void*)0; }
 
@@ -98,6 +99,7 @@ class ROSCPP_DECL WallTimer
     Impl();
     ~Impl();
 
+    bool hasStarted() const;
     bool isValid();
     bool hasPending();
     void setPeriod(const WallDuration& period, bool reset=true);

diff --git a/clients/roscpp/src/libros/wall_timer.cpp b/clients/roscpp/src/libros/wall_timer.cpp
@@ -42,6 +42,16 @@ WallTimer::Impl::~Impl()
   stop();
 }
 
+bool WallTimer::Impl::hasStarted() const
+{
+  return started_;
+}
+
+bool WallTimer::Impl::isValid()
+{
+  return !period_.isZero();
+}
+
 void WallTimer::Impl::start()
 {
   if (!started_)
@@ -51,6 +61,7 @@ void WallTimer::Impl::start()
     {
       tracked_object = tracked_object_.lock();
     }
+
     timer_handle_ = TimerManager<WallTime, WallDuration, WallTimerEvent>::global().add(period_, callback_, callback_queue_, tracked_object, oneshot_);
     started_ = true;
   }
@@ -66,11 +77,6 @@ void WallTimer::Impl::stop()
   }
 }
 
-bool WallTimer::Impl::isValid()
-{
-  return !period_.isZero();
-}
-
 bool WallTimer::Impl::hasPending()
 {
   if (!isValid() || timer_handle_ == -1)