timeout.h
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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 #ifndef BONDCPP__TIMEOUT_H_
00031 #define BONDCPP__TIMEOUT_H_
00032 
00033 #include <ros/ros.h>
00034 
00035 namespace bond {
00036 
00037 class Timeout
00038 {
00039 public:
00040   Timeout(
00041     const ros::Duration &d,
00042     boost::function<void(void)> on_timeout = boost::function<void(void)>());
00043   Timeout(
00044     const ros::WallDuration &d,
00045     boost::function<void(void)> on_timeout = boost::function<void(void)>());
00046   ~Timeout();
00047 
00048   // Undefined what these do to a running timeout
00049   void setDuration(const ros::Duration &d);
00050   void setDuration(const ros::WallDuration &d);
00051 
00052   void reset();
00053   void cancel();
00054   ros::WallDuration left();
00055 
00056 private:
00057   ros::NodeHandle nh_;
00058   ros::WallTimer timer_;
00059   ros::WallTime deadline_;
00060   ros::WallDuration duration_;
00061   boost::function<void(void)> on_timeout_;
00062 
00063   void timerCallback(const ros::WallTimerEvent &e);
00064 };
00065 
00066 
00067 }  // namespace bond
00068 
00069 #endif  // BONDCPP__TIMEOUT_H_


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