WaitHelpers.hh

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/*
 * Copyright (C) 2026 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
 
#ifndef GZ_TRANSPORT_WAITHELPERS_HH_
#define GZ_TRANSPORT_WAITHELPERS_HH_
 
#include <chrono>
#include <string>
#include <thread>
 
#include "gz/transport/config.hh"
#include "gz/transport/Export.hh"
 
namespace gz::transport
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_TRANSPORT_VERSION_NAMESPACE {
  //
  // Forward declaration.
  class Node;
 
  void GZ_TRANSPORT_VISIBLE waitForShutdown();
 
  template <typename Pred>
  bool waitUntil(Pred _pred,
                 std::chrono::milliseconds _timeout =
                     std::chrono::milliseconds(10000),
                 std::chrono::milliseconds _interval =
                     std::chrono::milliseconds(10))
  {
    auto deadline = std::chrono::steady_clock::now() + _timeout;
    while (std::chrono::steady_clock::now() < deadline)
    {
      if (_pred())
        return true;
      std::this_thread::sleep_for(_interval);
    }
    return _pred();
  }
 
  bool GZ_TRANSPORT_VISIBLE waitForService(
      const Node &_node,
      const std::string &_service,
      std::chrono::milliseconds _timeout =
          std::chrono::milliseconds(10000));
 
  bool GZ_TRANSPORT_VISIBLE waitForTopic(
      const Node &_node,
      const std::string &_topic,
      std::chrono::milliseconds _timeout =
          std::chrono::milliseconds(10000));
  }
}
 
// GZ_TRANSPORT_WAITHELPERS_HH_
#endif