.. _program_listing_file_src_tap_architecture_timeout.hpp:

Program Listing for File timeout.hpp
====================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_tap_architecture_timeout.hpp>` (``src/tap/architecture/timeout.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_TIMEOUT_HPP_
   #define TAPROOT_TIMEOUT_HPP_
   
   #include <cstdint>
   
   #include "clock.hpp"
   
   namespace tap
   {
   namespace arch
   {
   template <uint32_t (*T)()>
   class Timeout
   {
       template <typename H>
       friend class PeriodicTimer;
   
   private:
       bool isRunning;
       bool isExecuted;
       uint32_t expireTime;
   
   public:
       static constexpr auto TimeFunc = T;
   
       Timeout()
       {
           stop();
           this->expireTime = 0;
       }
   
       explicit Timeout(uint32_t timeout) { restart(timeout); }
   
       inline void restart(uint32_t timeout)
       {
           this->isRunning = true;
           this->isExecuted = false;
           this->expireTime = TimeFunc() + timeout;
       }
   
       inline void stop()
       {
           this->isRunning = false;
           this->isExecuted = false;
       }
   
       inline bool isStopped() const { return !this->isRunning; }
   
       inline bool isExpired() const { return this->isRunning && TimeFunc() >= this->expireTime; }
   
       inline uint32_t timeRemaining() const
       {
           if (this->isRunning && TimeFunc() < this->expireTime)
               return this->expireTime - TimeFunc();
           else
               return 0;
       }
   
       inline bool execute()
       {
           if (!isExecuted && isExpired())
           {
               isExecuted = true;
               return true;
           }
   
           return false;
       }
   };
   
   using MicroTimeout = Timeout<tap::arch::clock::getTimeMicroseconds>;
   using MilliTimeout = Timeout<tap::arch::clock::getTimeMilliseconds>;
   }  // namespace arch
   }  // namespace tap
   
   #endif  // TAPROOT_TIMEOUT_HPP_