timeout.h

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 */
 
#ifndef BONDCPP__TIMEOUT_H_
#define BONDCPP__TIMEOUT_H_
 
#include <ros/ros.h>
 
namespace bond {
 
class Timeout
{
public:
  Timeout(
    const ros::Duration &d,
    boost::function<void(void)> on_timeout = boost::function<void(void)>());
  Timeout(
    const ros::WallDuration &d,
    boost::function<void(void)> on_timeout = boost::function<void(void)>());
  ~Timeout();
 
  // Undefined what these do to a running timeout
  void setDuration(const ros::Duration &d);
  void setDuration(const ros::WallDuration &d);
 
  void reset();
  void cancel();
  ros::WallDuration left();
 
private:
  ros::NodeHandle nh_;
  ros::SteadyTimer timer_;
  ros::SteadyTime deadline_;
  ros::WallDuration duration_;
  boost::function<void(void)> on_timeout_;
 
  void timerCallback(const ros::SteadyTimerEvent &e);
};
 
 
}  // namespace bond
 
#endif  // BONDCPP__TIMEOUT_H_