dtimer.h

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/* -*- mode: C++ -*- 
 *
 *  Description:  Driver timer class
 *
 *  Copyright (C) 2009 Austin Robot Technology                    
 *
 *  License: Modified BSD Software License Agreement
 *
 *  $Id: dtimer.h 1161 2011-03-26 02:10:49Z jack.oquin $
 */

#ifndef _D_TIMER_HH_
#define _D_TIMER_HH_

#include <sys/time.h>
#include <time.h>
#include <art_msgs/ArtHertz.h>

class DriverTimer
{
 public:

  DriverTimer()
    {
      this->Cancel();
    };

  virtual ~DriverTimer() {};

  virtual void Cancel(void)
  {
    timer_running = false;
  }

  virtual bool Check(void)
  {
    if (!timer_running)
      return false;                     // timer not set

    // decrement time remaining by the duration of one cycle
    time_remaining -= (1.0 / art_msgs::ArtHertz::STEERING);
    return (time_remaining <= 0.0);
  }

  virtual void Restart(double duration)
  {
    if (timer_running && time_remaining > 0.0)
      return;

    Start(duration);
  }

  virtual void Start(double duration)
  {
    timer_running = true;
    time_remaining = duration;
  }

 protected:

  double time_remaining;                //< time remaining until done
  bool timer_running;                   //< true when timer running
};

#endif // _D_TIMER_HH_