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 #ifndef BONDCPP__TIMEOUT_H_ 00031 #define BONDCPP__TIMEOUT_H_ 00032 00033 #include <ros/ros.h> 00034 00035 namespace bond { 00036 00037 class Timeout 00038 { 00039 public: 00040 Timeout( 00041 const ros::Duration &d, 00042 boost::function<void(void)> on_timeout = boost::function<void(void)>()); 00043 Timeout( 00044 const ros::WallDuration &d, 00045 boost::function<void(void)> on_timeout = boost::function<void(void)>()); 00046 ~Timeout(); 00047 00048 // Undefined what these do to a running timeout 00049 void setDuration(const ros::Duration &d); 00050 void setDuration(const ros::WallDuration &d); 00051 00052 void reset(); 00053 void cancel(); 00054 ros::WallDuration left(); 00055 00056 private: 00057 ros::NodeHandle nh_; 00058 ros::WallTimer timer_; 00059 ros::WallTime deadline_; 00060 ros::WallDuration duration_; 00061 boost::function<void(void)> on_timeout_; 00062 00063 void timerCallback(const ros::WallTimerEvent &e); 00064 }; 00065 00066 00067 } // namespace bond 00068 00069 #endif // BONDCPP__TIMEOUT_H_