Merge pull request #25 from ros2/wait_timeout

introduce time struct, add timeout duration to rmw_wait
ros2 · Aug 5, 2015 · d5bd0c2 · d5bd0c2
2 parents e40d9d7 + d4c1564
commit d5bd0c2
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Showing 2 changed files with 8 additions and 1 deletion.
diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
@@ -178,7 +178,7 @@ rmw_wait(
   rmw_guard_conditions_t * guard_conditions,
   rmw_services_t * services,
   rmw_clients_t * clients,
-  bool non_blocking);
+  rmw_time_t * wait_timeout);
 
 #if __cplusplus
 }

diff --git a/rmw/include/rmw/types.h b/rmw/include/rmw/types.h
@@ -28,6 +28,7 @@ extern "C"
 typedef int rmw_ret_t;
 #define RMW_RET_OK 0
 #define RMW_RET_ERROR 1
+#define RMW_RET_TIMEOUT 2
 
 typedef struct RMW_PUBLIC_TYPE rmw_node_t
 {
@@ -95,6 +96,12 @@ typedef struct RMW_PUBLIC_TYPE rmw_request_id_t
   int64_t sequence_number;
 } rmw_request_id_t;
 
+typedef struct RMW_PUBLIC_TYPE rmw_time_t
+{
+  uint64_t sec;
+  uint64_t nsec;
+} rmw_time_t;
+
 #if __cplusplus
 }
 #endif