Program Listing for File robot_receive_timeout.h

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#pragma once

#include "ur_client_library/comm/control_mode.h"
#include <chrono>

namespace urcl
{
class RobotReceiveTimeout
{
public:
  static constexpr std::chrono::milliseconds MAX_RT_RECEIVE_TIMEOUT_MS = std::chrono::milliseconds(200);
  RobotReceiveTimeout() = delete;
  ~RobotReceiveTimeout() = default;

  static RobotReceiveTimeout millisec(const unsigned int milliseconds = 20);

  static RobotReceiveTimeout sec(const float seconds = 0.02);

  static RobotReceiveTimeout off();

  int verifyRobotReceiveTimeout(const comm::ControlMode control_mode, const std::chrono::milliseconds step_time) const;

  std::chrono::milliseconds timeout_;

private:
  RobotReceiveTimeout(std::chrono::milliseconds timeout);
};

}  // namespace urcl