dtimer.h
Go to the documentation of this file.00001 /* -*- mode: C++ -*- 00002 * 00003 * Description: Driver timer class 00004 * 00005 * Copyright (C) 2009 Austin Robot Technology 00006 * 00007 * License: Modified BSD Software License Agreement 00008 * 00009 * $Id: dtimer.h 1161 2011-03-26 02:10:49Z jack.oquin $ 00010 */ 00011 00012 #ifndef _D_TIMER_HH_ 00013 #define _D_TIMER_HH_ 00014 00015 #include <sys/time.h> 00016 #include <time.h> 00017 #include <art_msgs/ArtHertz.h> 00018 00020 class DriverTimer 00021 { 00022 public: 00023 00025 DriverTimer() 00026 { 00027 this->Cancel(); 00028 }; 00029 00030 virtual ~DriverTimer() {}; 00031 00033 virtual void Cancel(void) 00034 { 00035 timer_running = false; 00036 } 00037 00045 virtual bool Check(void) 00046 { 00047 if (!timer_running) 00048 return false; // timer not set 00049 00050 // decrement time remaining by the duration of one cycle 00051 time_remaining -= (1.0 / art_msgs::ArtHertz::STEERING); 00052 return (time_remaining <= 0.0); 00053 } 00054 00059 virtual void Restart(double duration) 00060 { 00061 if (timer_running && time_remaining > 0.0) 00062 return; 00063 00064 Start(duration); 00065 } 00066 00068 virtual void Start(double duration) 00069 { 00070 timer_running = true; 00071 time_remaining = duration; 00072 } 00073 00074 protected: 00075 00076 double time_remaining; //< time remaining until done 00077 bool timer_running; //< true when timer running 00078 }; 00079 00080 #endif // _D_TIMER_HH_