From d4c156491227b3beac02c5cf3051ae2807f689c9 Mon Sep 17 00:00:00 2001
From: Jackie Kay <jackie@osrfoundation.org>
Date: Fri, 24 Jul 2015 16:50:36 -0700
Subject: [PATCH] add rmw_time_t, pass time to rmw_wait

---
 rmw/include/rmw/rmw.h   | 2 +-
 rmw/include/rmw/types.h | 7 +++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/rmw/include/rmw/rmw.h b/rmw/include/rmw/rmw.h
index 1e9e1f3d2..62c3c0238 100644
--- 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
index 48bca18ba..fb0df068f 100644
--- 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