timeout.cpp
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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 #include <algorithm>
00033 
00034 namespace bond {
00035 
00036 Timeout::Timeout(const ros::Duration &d,
00037                  boost::function<void(void)> on_timeout)
00038   : duration_(d.sec, d.nsec), on_timeout_(on_timeout)
00039 {
00040 }
00041 
00042 Timeout::Timeout(const ros::WallDuration &d,
00043                  boost::function<void(void)> on_timeout)
00044   : duration_(d), on_timeout_(on_timeout)
00045 {
00046 }
00047 
00048 Timeout::~Timeout()
00049 {
00050   timer_.stop();
00051 }
00052 
00053 void Timeout::setDuration(const ros::Duration &d)
00054 {
00055   duration_ = ros::WallDuration(d.sec, d.nsec);
00056 }
00057 
00058 void Timeout::setDuration(const ros::WallDuration &d)
00059 {
00060   duration_ = d;
00061 }
00062 
00063 
00064 void Timeout::reset()
00065 {
00066   timer_.stop();
00067   timer_ = nh_.createWallTimer(duration_, &Timeout::timerCallback, this, true);
00068   deadline_ = ros::WallTime::now() + duration_;
00069 }
00070 
00071 void Timeout::cancel()
00072 {
00073   timer_.stop();
00074 }
00075 
00076 ros::WallDuration Timeout::left()
00077 {
00078   return std::max(ros::WallDuration(0.0), deadline_ - ros::WallTime::now());
00079 }
00080 
00081 void Timeout::timerCallback(const ros::WallTimerEvent &)
00082 {
00083   if (on_timeout_) {
00084     on_timeout_();
00085   }
00086 }
00087 
00088 }  // namespace bond


bondcpp
Author(s): Stuart Glaser
autogenerated on Thu Aug 17 2017 03:12:47