timeout.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       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"
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 */

#include "bondcpp/timeout.h"

#include <algorithm>

namespace bond {

Timeout::Timeout(const ros::Duration &d,
                 boost::function<void(void)> on_timeout)
  : duration_(d.sec, d.nsec), on_timeout_(on_timeout)
{
}

Timeout::Timeout(const ros::WallDuration &d,
                 boost::function<void(void)> on_timeout)
  : duration_(d), on_timeout_(on_timeout)
{
}

Timeout::~Timeout()
{
  timer_.stop();
}

void Timeout::setDuration(const ros::Duration &d)
{
  duration_ = ros::WallDuration(d.sec, d.nsec);
}

void Timeout::setDuration(const ros::WallDuration &d)
{
  duration_ = d;
}


void Timeout::reset()
{
  timer_.stop();
  timer_ = nh_.createSteadyTimer(duration_, &Timeout::timerCallback, this, true);
  deadline_ = ros::SteadyTime::now() + duration_;
}

void Timeout::cancel()
{
  timer_.stop();
}

ros::WallDuration Timeout::left()
{
  return std::max(ros::WallDuration(0.0), deadline_ - ros::SteadyTime::now());
}

void Timeout::timerCallback(const ros::SteadyTimerEvent &)
{
  if (on_timeout_) {
    on_timeout_();
  }
}

}  // namespace bond