interruptible_sleep_interface.h

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#pragma once
 
#include <memory>
 
#include <ros/duration.h>
 
namespace cras
{
 
struct InterruptibleSleepInterfacePrivate;
 
struct InterruptibleSleepInterface
{
public:
  InterruptibleSleepInterface();
 
  virtual ~InterruptibleSleepInterface();
 
  virtual bool sleep(const ::ros::Duration& duration) const;
 
  virtual bool ok() const;
 
protected:
  ::ros::WallDuration pollDuration {0, 1000000};
 
private:
  ::std::unique_ptr<InterruptibleSleepInterfacePrivate> data;
};
 
}