.. _program_listing_file_src_tap_architecture_conditional_timer.hpp:

Program Listing for File conditional_timer.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_architecture_conditional_timer.hpp>` (``src/tap/architecture/conditional_timer.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2020-2021 Advanced Robotics at the University of Washington <robomstr@uw.edu>
    *
    * This file is part of Taproot.
    *
    * Taproot is free software: you can redistribute it and/or modify
    * it under the terms of the GNU General Public License as published by
    * the Free Software Foundation, either version 3 of the License, or
    * (at your option) any later version.
    *
    * Taproot is distributed in the hope that it will be useful,
    * but WITHOUT ANY WARRANTY; without even the implied warranty of
    * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    * GNU General Public License for more details.
    *
    * You should have received a copy of the GNU General Public License
    * along with Taproot.  If not, see <https://www.gnu.org/licenses/>.
    */
   
   #ifndef TAPROOT_CONDITIONAL_TIMER_HPP_
   #define TAPROOT_CONDITIONAL_TIMER_HPP_
   
   #include <cstdint>
   
   #include "timeout.hpp"
   
   namespace tap
   {
   namespace arch
   {
   template <class Timeout>
   class ConditionalTimer
   {
   public:
       explicit ConditionalTimer(uint32_t timeout) : timeout(timeout) {}
   
       inline void restart() { timer.restart(timeout); }
   
       inline void restart(uint32_t newTimeout)
       {
           timeout = newTimeout;
           timer.restart(newTimeout);
       }
   
       inline void stop() { timer.stop(); }
   
       inline bool execute(bool condition)
       {
           if (!condition)
           {
               timer.restart(timeout);
           }
           return timer.isExpired();
       }
   
       inline bool isStopped() { return timer.isStopped(); }
   
   private:
       Timeout timer;
       uint32_t timeout;
   };
   
   using ConditionalMilliTimer = ConditionalTimer<MilliTimeout>;
   
   }  // namespace arch
   
   }  // namespace tap
   
   #endif