.. _program_listing_file__tmp_ws_src_rosbag2_rosbag2_test_common_include_rosbag2_test_common_wait_for.hpp:

Program Listing for File wait_for.hpp
=====================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rosbag2_rosbag2_test_common_include_rosbag2_test_common_wait_for.hpp>` (``/tmp/ws/src/rosbag2/rosbag2_test_common/include/rosbag2_test_common/wait_for.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef ROSBAG2_TEST_COMMON__WAIT_FOR_HPP_
   #define ROSBAG2_TEST_COMMON__WAIT_FOR_HPP_
   
   #include <chrono>
   
   #include "rclcpp/rclcpp.hpp"
   
   namespace rosbag2_test_common
   {
   template<typename Timeout, typename Node, typename Condition>
   bool spin_and_wait_for(Timeout timeout, const Node & node, Condition condition)
   {
     using clock = std::chrono::system_clock;
     auto start = clock::now();
     rclcpp::executors::SingleThreadedExecutor exec;
     exec.add_node(node);
     while (!condition()) {
       if ((clock::now() - start) > timeout) {
         return false;
       }
       exec.spin_some();
     }
     return true;
   }
   
   template<typename Timeout, typename Condition>
   bool wait_until_shutdown(Timeout timeout, Condition condition)
   {
     using clock = std::chrono::system_clock;
     auto start = clock::now();
     while (!condition()) {
       if ((clock::now() - start) > timeout) {
         return false;
       }
       std::this_thread::sleep_for(std::chrono::milliseconds(100));
     }
     rclcpp::shutdown();
     return true;
   }
   }  // namespace rosbag2_test_common
   
   #endif  // ROSBAG2_TEST_COMMON__WAIT_FOR_HPP_