timeout.cpp
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <bondcpp/timeout.h>
00031 
00032 namespace bond {
00033 
00034 Timeout::Timeout(const ros::Duration &d,
00035                  boost::function<void(void)> on_timeout)
00036   : duration_(d.sec, d.nsec), on_timeout_(on_timeout)
00037 {
00038 }
00039 
00040 Timeout::Timeout(const ros::WallDuration &d,
00041                  boost::function<void(void)> on_timeout)
00042   : duration_(d), on_timeout_(on_timeout)
00043 {
00044 }
00045 
00046 Timeout::~Timeout()
00047 {
00048   timer_.stop();
00049 }
00050 
00051 void Timeout::setDuration(const ros::Duration &d)
00052 {
00053   duration_ = ros::WallDuration(d.sec, d.nsec);
00054 }
00055 
00056 void Timeout::setDuration(const ros::WallDuration &d)
00057 {
00058   duration_ = d;
00059 }
00060 
00061 
00062 void Timeout::reset()
00063 {
00064   timer_.stop();
00065   timer_ = nh_.createWallTimer(duration_, &Timeout::timerCallback, this, true);
00066   deadline_ = ros::WallTime::now() + duration_;
00067 }
00068 
00069 void Timeout::cancel()
00070 {
00071   timer_.stop();
00072 }
00073 
00074 ros::WallDuration Timeout::left()
00075 {
00076   return std::max(ros::WallDuration(0.0), deadline_ - ros::WallTime::now());
00077 }
00078 
00079 void Timeout::timerCallback(const ros::WallTimerEvent &e)
00080 {
00081   if (on_timeout_)
00082     on_timeout_();
00083 }
00084 
00085 }


bondcpp
Author(s): Stuart Glaser
autogenerated on Sun Oct 5 2014 22:32:29