Handle to a registered timeout, that unregisters it on destruction. More...

#include <timeout_manager.hpp>

Public Member Functions
	TimeoutManagerHandle (internal::TimeoutManagerHandleKey key, TimeoutManagerRegisterOptions options, std::shared_ptr< rclcpp::node_interfaces::NodeClockInterface > clock_interface)
	Construct the handle.
	~TimeoutManagerHandle ()=default
	Default destructor.
	TimeoutManagerHandle (const TimeoutManagerHandle &)=delete
	TimeoutManagerHandle is immovable.
TimeoutManagerHandle &	operator= (const TimeoutManagerHandle &)=delete
	TimeoutManagerHandle is immovable.
	TimeoutManagerHandle (TimeoutManagerHandle &&)=delete
	TimeoutManagerHandle is immovable.
TimeoutManagerHandle &	operator= (TimeoutManagerHandle &&)=delete
	TimeoutManagerHandle is immovable.
void	reset_timeout ()
	Reset the timeout countdown.
void	start ()
	Start the timeout.
void	pause ()
	Stop the timeout.
void	set_timeout (std::chrono::nanoseconds timeout)
	Set a new duration after which the timeout is called.
bool	is_started () const
	Check if the timeout is started.
rclcpp::Time	get_last_reset () const
	Get time of last call to reset.
void	run_callback_if_expired (internal::TimeoutManagerHandleKey key)
	Check if timeout is expired and if yes, call it.

Detailed Description

Handle to a registered timeout, that unregisters it on destruction.

Constructor & Destructor Documentation

◆ TimeoutManagerHandle()

mrs_lib::TimeoutManagerHandle::TimeoutManagerHandle	(	internal::TimeoutManagerHandleKey	key,
		TimeoutManagerRegisterOptions	options,
		std::shared_ptr< rclcpp::node_interfaces::NodeClockInterface >	clock_interface )

explicit

Construct the handle.

Parameters

key	Key type to prevent users from calling this function.
options	Options to configure the timeout.
clock_interface	Clock interface to use for obtaining current time.

Note: This function is for internal use and should not be called from user code.

Member Function Documentation

◆ get_last_reset()

rclcpp::Time mrs_lib::TimeoutManagerHandle::get_last_reset ( ) const

nodiscard

Get time of last call to reset.

Returns: Last time the reset was called.

◆ is_started()

bool mrs_lib::TimeoutManagerHandle::is_started ( ) const

nodiscard

Check if the timeout is started.

Returns: true if it is started, false otherwise.

◆ pause()

void mrs_lib::TimeoutManagerHandle::pause ( )

Stop the timeout.

After this call, new timeout callbacks won't be called until a call to start.

◆ reset_timeout()

void mrs_lib::TimeoutManagerHandle::reset_timeout ( )

Reset the timeout countdown.

If this function is not called before the timeout expires, the configured callback is called.

◆ run_callback_if_expired()

void mrs_lib::TimeoutManagerHandle::run_callback_if_expired ( internal::TimeoutManagerHandleKey key )

Check if timeout is expired and if yes, call it.