text: /*
   * 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.
   */
  
  #include "ros/wall_timer.h"
  #include "ros/timer_manager.h"
  
  namespace ros
  {
  
  WallTimer::Impl::Impl()
    : started_(false)
    , timer_handle_(-1)
  { }
  
  WallTimer::Impl::~Impl()
  {
    ROS_DEBUG("WallTimer deregistering callbacks.");
    stop();
  }
  
  void WallTimer::Impl::start()
  {
    if (!started_)
    {
      VoidConstPtr tracked_object;
      if (has_tracked_object_)
      {
        tracked_object = tracked_object_.lock();
      }
      timer_handle_ = TimerManager<WallTime, WallDuration, WallTimerEvent>::global().add(period_, callback_, callback_queue_, tracked_object, oneshot_);
      started_ = true;
    }
  }
  
  void WallTimer::Impl::stop()
  {
    if (started_)
    {
      started_ = false;
      TimerManager<WallTime, WallDuration, WallTimerEvent>::global().remove(timer_handle_);
      timer_handle_ = -1;
    }
  }
  
  bool WallTimer::Impl::isValid()
  {
    return !period_.isZero();
  }
  
  bool WallTimer::Impl::hasPending()
  {
    if (!isValid() || timer_handle_ == -1)
    {
      return false;
    }
  
    return TimerManager<WallTime, WallDuration, WallTimerEvent>::global().hasPending(timer_handle_);
  }
  
  void WallTimer::Impl::setPeriod(const WallDuration& period)
  {
    period_ = period;
    TimerManager<WallTime, WallDuration, WallTimerEvent>::global().setPeriod(timer_handle_, period);
  }
  
  
  WallTimer::WallTimer(const WallTimerOptions& ops)
  : impl_(new Impl)
  {
    impl_->period_ = ops.period;
    impl_->callback_ = ops.callback;
    impl_->callback_queue_ = ops.callback_queue;
    impl_->tracked_object_ = ops.tracked_object;
    impl_->has_tracked_object_ = ops.tracked_object;
    impl_->oneshot_ = ops.oneshot;
  }
  
  WallTimer::WallTimer(const WallTimer& rhs)
  {
    impl_ = rhs.impl_;
  }
  
  WallTimer::~WallTimer()
  {
  }
  
  void WallTimer::start()
  {
    if (impl_)
    {
      impl_->start();
    }
  }
  
  void WallTimer::stop()
  {
    if (impl_)
    {
      impl_->stop();
    }
  }
  
  bool WallTimer::hasPending()
  {
    if (impl_)
    {
      return impl_->hasPending();
    }
  
    return false;
  }
  
  void WallTimer::setPeriod(const WallDuration& period)
  {
    if (impl_)
    {
      impl_->setPeriod(period);
    }
  }
  
  }
  