timeout_manager.h

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// clang: MatousFormat
#ifndef TIMEOUT_MANAGER_H
#define TIMEOUT_MANAGER_H
 
#include <ros/ros.h>
 
namespace mrs_lib
{
  /* TimeoutManager class //{ */
  class TimeoutManager
  {
    public:
      // | ---------------------- public types ---------------------- |
      using timeout_id_t = size_t;
      using callback_t = std::function<void(const ros::Time&)>;
 
    public:
      // | --------------------- public methods --------------------- |
 
      TimeoutManager(const ros::NodeHandle& nh, const ros::Rate& update_rate);
 
      timeout_id_t registerNew(const ros::Duration& timeout, const callback_t& callback, const ros::Time& last_reset = ros::Time::now(), const bool oneshot = false, const bool autostart = true);
 
      void reset(const timeout_id_t id, const ros::Time& time = ros::Time::now());
 
      void pause(const timeout_id_t id);
 
      void start(const timeout_id_t id, const ros::Time& time = ros::Time::now());
 
      void pauseAll();
 
      void startAll(const ros::Time& time = ros::Time::now());
 
      void change(const timeout_id_t id, const ros::Duration& timeout, const callback_t& callback, const ros::Time& last_reset = ros::Time::now(), const bool oneshot = false, const bool autostart = true);
 
      ros::Time lastReset(const timeout_id_t id);
 
      bool started(const timeout_id_t id);
 
      /* implementation details //{ */
      
      private:
        // | ---------------------- private types --------------------- |
        struct timeout_info_t
        {
          bool oneshot;
          bool started;
          callback_t callback;
          ros::Duration timeout;
          ros::Time last_reset;
          ros::Time last_callback;
        };
      
      private:
        // | --------------------- private methods -------------------- |
        void main_timer_callback([[maybe_unused]] const ros::TimerEvent& evt);
      
      private:
        // | ------------------------- members ------------------------ |
        std::recursive_mutex m_mtx;
        timeout_id_t m_last_id;
        std::vector<timeout_info_t> m_timeouts;
      
        ros::Timer m_main_timer;
      
      //}
 
  };
  //}
}
 
#endif // TIMEOUT_MANAGER_H