From 7c121e482f6d60ae52676323ccd8a2a50a47e711 Mon Sep 17 00:00:00 2001
From: Robin Deits <robin.deits@gmail.com>
Date: Mon, 9 Jan 2017 11:30:10 -0500
Subject: [PATCH 1/3] add optional timeout to handle()

---
 src/PyLCM.jl     | 24 +++++++++++++++++++++++-
 test/runtests.jl |  2 +-
 2 files changed, 24 insertions(+), 2 deletions(-)

diff --git a/src/PyLCM.jl b/src/PyLCM.jl
index 1b32369..19b193e 100644
--- a/src/PyLCM.jl
+++ b/src/PyLCM.jl
@@ -2,6 +2,7 @@ VERSION >= v"0.4.0-dev+6521" && __precompile__()
 
 module PyLCM
 
+using Base.Dates: Period, Millisecond
 using PyCall
 export LCM, publish, subscribe, handle, @pyimport
 
@@ -25,8 +26,29 @@ function subscribe(lc::LCM, channel::AbstractString, handler::Function, msg_type
 	lc.lcm_obj[:subscribe](channel, pyeval("lambda chan, data, handler=h, msg_type=t: handler(chan, msg_type.decode(data))", h=handler, t=msg_type))
 end
 
+"Wait for and dispatch the next incoming message"
 function handle(lc::LCM)
-	pycall(lc.lcm_obj[:handle], PyObject)
+    pycall(lc.lcm_obj[:handle], PyObject)
+    nothing
+end
+
+"""
+    handle(lc, timeout)
+
+Wait for and dispatch the next incoming message, with a timeout expressed
+as any Base.Dates.Period type. For example:
+
+    handle(lc, Millisecond(10))
+
+or
+
+    handle(lc, Second(1))
+
+Returns true if a message was handled, false if the function timed out.
+"""
+function handle(lc::LCM, timeout::Period)
+    timeout_ms = convert(Int, convert(Millisecond, timeout))
+    convert(Bool, pycall(lc.lcm_obj[:handle_timeout], PyObject, timeout_ms))
 end
 
 function __init__()
diff --git a/test/runtests.jl b/test/runtests.jl
index 7e48789..72db3b8 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -54,5 +54,5 @@ end
 
 subscribe(lc, "TEST_DECODE", decode_and_handle_msg)
 publish(lc, "TEST_DECODE", msg)
-handle(lc)
+handle(lc, Dates.Second(1))
 @test decoded_message

From c3762c8b0ba86ba88b564a6d3130514ea5229792 Mon Sep 17 00:00:00 2001
From: Robin Deits <robin.deits@gmail.com>
Date: Mon, 9 Jan 2017 11:37:18 -0500
Subject: [PATCH 2/3] handle() always returns bool, regardless of whether
 timeout was given

---
 src/PyLCM.jl     | 4 ++--
 test/runtests.jl | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/PyLCM.jl b/src/PyLCM.jl
index 19b193e..7b92ae5 100644
--- a/src/PyLCM.jl
+++ b/src/PyLCM.jl
@@ -1,4 +1,4 @@
-VERSION >= v"0.4.0-dev+6521" && __precompile__()
+__precompile__()
 
 module PyLCM
 
@@ -29,7 +29,7 @@ end
 "Wait for and dispatch the next incoming message"
 function handle(lc::LCM)
     pycall(lc.lcm_obj[:handle], PyObject)
-    nothing
+    true
 end
 
 """
diff --git a/test/runtests.jl b/test/runtests.jl
index 72db3b8..6411047 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -34,7 +34,7 @@ end
 
 subscribe(lc, "TEST", handle_msg, pylcm_test_message.multidimensional_array_t)
 publish(lc, "TEST", msg)
-handle(lc)
+@test handle(lc)
 @test got_message
 
 global decoded_message = false
@@ -54,5 +54,5 @@ end
 
 subscribe(lc, "TEST_DECODE", decode_and_handle_msg)
 publish(lc, "TEST_DECODE", msg)
-handle(lc, Dates.Second(1))
+@test handle(lc, Dates.Second(1))
 @test decoded_message

From daf2d2bc27ec221690ccf3bdd49412b13ee4435b Mon Sep 17 00:00:00 2001
From: Robin Deits <robin.deits@gmail.com>
Date: Mon, 9 Jan 2017 11:39:18 -0500
Subject: [PATCH 3/3] allow nightly to fail

---
 .travis.yml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.travis.yml b/.travis.yml
index fc6dbd1..742fe98 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -13,6 +13,9 @@ notifications:
 branches:
   only:
     - master
+matrix:
+  allow_failures:
+    - julia: nightly
 
 after_success:
   - julia -e 'cd(Pkg.dir("PyLCM")); Pkg.add("Coverage"); using Coverage; Codecov.submit(process_folder())'