topic.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  *  Copyright (c) 2009, Willow Garage, Inc.
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00034 
00035 #include "ros/topic.h"
00036 #include "ros/callback_queue.h"
00037 
00038 namespace ros
00039 {
00040 namespace topic
00041 {
00042 
00043 void waitForMessageImpl(SubscribeOptions& ops, 
00044                         const boost::function<bool(void)>& ready_pred, 
00045                         NodeHandle& nh, ros::Duration timeout)
00046 {
00047   ros::CallbackQueue queue;
00048   ops.callback_queue = &queue;
00049 
00050   ros::Subscriber sub = nh.subscribe(ops);
00051 
00052   ros::Time end = ros::Time::now() + timeout;
00053   while (!ready_pred() && nh.ok())
00054   {
00055     queue.callAvailable(ros::WallDuration(0.1));
00056 
00057     if (!timeout.isZero() && ros::Time::now() >= end)
00058     {
00059       return;
00060     }
00061   }
00062 }
00063 
00064 } // namespace topic
00065 } // namespace ros


roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Tue Mar 7 2017 04:01:04