interruptible_sleep_interface.h

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#pragma once

#include <memory>

#include <ros/duration.h>

namespace cras
{

struct InterruptibleSleepInterfacePrivate;

struct InterruptibleSleepInterface
{
public:
  InterruptibleSleepInterface();

  virtual ~InterruptibleSleepInterface();

  virtual bool sleep(const ::ros::Duration& duration) const;

  virtual bool ok() const;

protected:
  ::ros::WallDuration pollDuration {0, 1000000};

private:
  ::std::unique_ptr<InterruptibleSleepInterfacePrivate> data;
};

}