plugins: C++11 chrono want time by ref, return *_DT

Fix #80.
mavlink · Aug 5, 2014 · 32cbe4b · 32cbe4b
1 parent 1e18425
commit 32cbe4b
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Showing 3 changed files with 12 additions and 5 deletions.
diff --git a/src/plugins/command.cpp b/src/plugins/command.cpp
@@ -58,7 +58,8 @@ class CommandTransaction {
 class CommandPlugin : public MavRosPlugin {
 public:
 	CommandPlugin() :
-		uas(nullptr)
+		uas(nullptr),
+		ACK_TIMEOUT_DT(ACK_TIMEOUT_MS / 1000.0)
 	{ };
 
 	void initialize(UAS &uas_,
@@ -114,12 +115,14 @@ class CommandPlugin : public MavRosPlugin {
 	std::list<CommandTransaction *> ack_waiting_list;
 	static constexpr int ACK_TIMEOUT_MS = 5000;
 
+	const ros::Duration ACK_TIMEOUT_DT;
+
 	/* -*- mid-level functions -*- */
 
 	bool wait_ack_for(CommandTransaction *tr) {
 		std::unique_lock<std::mutex> lock(tr->cond_mutex);
 
-		return tr->ack.wait_for(lock, std::chrono::milliseconds(ACK_TIMEOUT_MS))
+		return tr->ack.wait_for(lock, std::chrono::nanoseconds(ACK_TIMEOUT_DT.toNSec()))
 			== std::cv_status::no_timeout;
 	}
 

diff --git a/src/plugins/param.cpp b/src/plugins/param.cpp
@@ -344,6 +344,7 @@ class ParamPlugin : public MavRosPlugin {
 		is_timedout(false),
 		param_rx_retries(RETRIES_COUNT),
 		BOOTUP_TIME_DT(BOOTUP_TIME_MS / 1000.0),
+		LIST_TIMEOUT_DT(LIST_TIMEOUT_MS / 1000.0),
 		PARAM_TIMEOUT_DT(PARAM_TIMEOUT_MS / 1000.0)
 	{ };
 
@@ -480,6 +481,7 @@ class ParamPlugin : public MavRosPlugin {
 	static constexpr int RETRIES_COUNT = 3;
 
 	const ros::Duration BOOTUP_TIME_DT;
+	const ros::Duration LIST_TIMEOUT_DT;
 	const ros::Duration PARAM_TIMEOUT_DT;
 
 	std::map<std::string, Parameter> parameters;
@@ -684,7 +686,7 @@ class ParamPlugin : public MavRosPlugin {
 	bool wait_fetch_all() {
 		std::unique_lock<std::mutex> lock(list_cond_mutex);
 
-		return list_receiving.wait_for(lock, std::chrono::milliseconds(LIST_TIMEOUT_MS))
+		return list_receiving.wait_for(lock, std::chrono::nanoseconds(LIST_TIMEOUT_DT.toNSec()))
 			== std::cv_status::no_timeout
 			&& !is_timedout;
 	}

diff --git a/src/plugins/waypoint.cpp b/src/plugins/waypoint.cpp
@@ -156,6 +156,7 @@ class WaypointPlugin : public MavRosPlugin {
 		do_pull_after_gcs(false),
 		reshedule_pull(false),
 		BOOTUP_TIME_DT(BOOTUP_TIME_MS / 1000.0),
+		LIST_TIMEOUT_DT(LIST_TIMEOUT_MS / 1000.0),
 		WP_TIMEOUT_DT(WP_TIMEOUT_MS/ 1000.0),
 		RESHEDULE_DT(RESHEDULE_MS / 1000.0)
 	{ };
@@ -287,6 +288,7 @@ class WaypointPlugin : public MavRosPlugin {
 	static constexpr int RETRIES_COUNT = 3;
 
 	const ros::Duration BOOTUP_TIME_DT;
+	const ros::Duration LIST_TIMEOUT_DT;
 	const ros::Duration WP_TIMEOUT_DT;
 	const ros::Duration RESHEDULE_DT;
 
@@ -615,15 +617,15 @@ class WaypointPlugin : public MavRosPlugin {
 	bool wait_fetch_all() {
 		std::unique_lock<std::mutex> lock(recv_cond_mutex);
 
-		return list_receiving.wait_for(lock, std::chrono::milliseconds(LIST_TIMEOUT_MS))
+		return list_receiving.wait_for(lock, std::chrono::nanoseconds(LIST_TIMEOUT_DT.toNSec()))
 			== std::cv_status::no_timeout
 			&& !is_timedout;
 	}
 
 	bool wait_push_all() {
 		std::unique_lock<std::mutex> lock(send_cond_mutex);
 
-		return list_sending.wait_for(lock, std::chrono::milliseconds(LIST_TIMEOUT_MS))
+		return list_sending.wait_for(lock, std::chrono::nanoseconds(LIST_TIMEOUT_DT.toNSec()))
 			== std::cv_status::no_timeout
 			&& !is_timedout;
 	}