Method tick

src/decorators/timeout_node.cpp:18–72

{

NodeStatus TimeoutNode::tick()
{
  if(read_parameter_from_ports_)
  {
    if(!getInput("msec", msec_))
    {
      throw RuntimeError("Missing parameter [msec] in TimeoutNode");
    }
  }

  if(!timeout_started_)
  {
    timeout_started_ = true;
    setStatus(NodeStatus::RUNNING);
    child_halted_ = false;

    if(msec_ > 0)
    {
      timer_id_ = timer_.add(std::chrono::milliseconds(msec_), [this](bool aborted) {
        // Return immediately if the timer was aborted.
        // This function could be invoked during destruction of this object and
        // we don't want to access member variables if not needed.
        if(aborted)
        {
          return;
        }
        const std::unique_lock<std::mutex> lk(timeout_mutex_);
        if(child()->status() == NodeStatus::RUNNING)
        {
          child_halted_ = true;
          haltChild();
          emitWakeUpSignal();
        }
      });
    }
  }

  std::unique_lock<std::mutex> lk(timeout_mutex_);

  if(child_halted_)
  {
    timeout_started_ = false;
    return NodeStatus::FAILURE;
  }
  const NodeStatus child_status = child()->executeTick();
  if(isStatusCompleted(child_status))
  {
    timeout_started_ = false;
    lk.unlock();
    timer_.cancel(timer_id_);
    lk.lock();
    resetChild();
  }
  return child_status;
}

void TimeoutNode::halt()
{