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 #include <bondcpp/timeout.h> 00031 00032 namespace bond { 00033 00034 Timeout::Timeout(const ros::Duration &d, 00035 boost::function<void(void)> on_timeout) 00036 : duration_(d.sec, d.nsec), on_timeout_(on_timeout) 00037 { 00038 } 00039 00040 Timeout::Timeout(const ros::WallDuration &d, 00041 boost::function<void(void)> on_timeout) 00042 : duration_(d), on_timeout_(on_timeout) 00043 { 00044 } 00045 00046 Timeout::~Timeout() 00047 { 00048 timer_.stop(); 00049 } 00050 00051 void Timeout::setDuration(const ros::Duration &d) 00052 { 00053 duration_ = ros::WallDuration(d.sec, d.nsec); 00054 } 00055 00056 void Timeout::setDuration(const ros::WallDuration &d) 00057 { 00058 duration_ = d; 00059 } 00060 00061 00062 void Timeout::reset() 00063 { 00064 timer_.stop(); 00065 timer_ = nh_.createWallTimer(duration_, &Timeout::timerCallback, this, true); 00066 deadline_ = ros::WallTime::now() + duration_; 00067 } 00068 00069 void Timeout::cancel() 00070 { 00071 timer_.stop(); 00072 } 00073 00074 ros::WallDuration Timeout::left() 00075 { 00076 return std::max(ros::WallDuration(0.0), deadline_ - ros::WallTime::now()); 00077 } 00078 00079 void Timeout::timerCallback(const ros::WallTimerEvent &e) 00080 { 00081 if (on_timeout_) 00082 on_timeout_(); 00083 } 00084 00085 }