timeout.hpp

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#ifndef _TIMEOUT_HPP
#define _TIMEOUT_HPP
 
#include <rclcpp/rclcpp.hpp>
 
namespace timer
{
class Timeout
{
private:
  rclcpp::Time start_time;
  rclcpp::Duration elapsed_time;
  int64_t timeout;
 
public:
  explicit Timeout(rclcpp::Time start_time, int64_t timeout);
 
  void reset(rclcpp::Time start_time);
 
  bool is_timeout(rclcpp::Time now);
 
  int64_t get_elapsed_time();
 
  int64_t get_timeout();
 
  void set_timeout(int64_t timeout_ns);
};
 
}  // namespace timer
 
#endif