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Use SteadyTime and SteadyTimer for bond timeouts #18

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merged 3 commits into from Jul 20, 2017
Merged

Use SteadyTime and SteadyTimer for bond timeouts #18

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3d7c6e1
use steady clock for bond timeouts
flixr Feb 25, 2017
2962689
use new SteadyTimer instead of WallTimer
flixr Feb 26, 2017
8cad7d6
fix conflict resolution mistakes
mikaelarguedas Jul 13, 2017
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4 changes: 2 additions & 2 deletions bondcpp/include/bondcpp/bond.h
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Expand Up @@ -167,15 +167,15 @@ class Bond

ros::Subscriber sub_;
ros::Publisher pub_;
ros::WallTimer publishingTimer_;
ros::SteadyTimer publishingTimer_;

void onConnectTimeout();
void onHeartbeatTimeout();
void onDisconnectTimeout();

void bondStatusCB(const bond::Status::ConstPtr &msg);

void doPublishing(const ros::WallTimerEvent &e);
void doPublishing(const ros::SteadyTimerEvent &e);
void publishStatus(bool active);

std::vector<boost::function<void(void)> > pending_callbacks_;
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6 changes: 3 additions & 3 deletions bondcpp/include/bondcpp/timeout.h
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Expand Up @@ -55,12 +55,12 @@ class Timeout

private:
ros::NodeHandle nh_;
ros::WallTimer timer_;
ros::WallTime deadline_;
ros::SteadyTimer timer_;
ros::SteadyTime deadline_;
ros::WallDuration duration_;
boost::function<void(void)> on_timeout_;

void timerCallback(const ros::WallTimerEvent &e);
void timerCallback(const ros::SteadyTimerEvent &e);
};


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12 changes: 6 additions & 6 deletions bondcpp/src/bond.cpp
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Expand Up @@ -178,7 +178,7 @@ void Bond::start()
pub_ = nh_.advertise<bond::Status>(topic_, 5);
sub_ = nh_.subscribe<bond::Status>(topic_, 30, boost::bind(&Bond::bondStatusCB, this, _1));

publishingTimer_ = nh_.createWallTimer(
publishingTimer_ = nh_.createSteadyTimer(
ros::WallDuration(heartbeat_period_), &Bond::doPublishing, this);
started_ = true;
}
Expand All @@ -202,7 +202,7 @@ bool Bond::waitUntilFormed(ros::Duration timeout)
bool Bond::waitUntilFormed(ros::WallDuration timeout)
{
boost::mutex::scoped_lock lock(mutex_);
ros::WallTime deadline(ros::WallTime::now() + timeout);
ros::SteadyTime deadline(ros::SteadyTime::now() + timeout);

while (sm_.getState().getId() == SM::WaitingForSister.getId()) {
if (!ros::ok()) {
Expand All @@ -211,7 +211,7 @@ bool Bond::waitUntilFormed(ros::WallDuration timeout)

ros::WallDuration wait_time = ros::WallDuration(0.1);
if (timeout >= ros::WallDuration(0.0)) {
wait_time = std::min(wait_time, deadline - ros::WallTime::now());
wait_time = std::min(wait_time, deadline - ros::SteadyTime::now());
}

if (wait_time <= ros::WallDuration(0.0)) {
Expand All @@ -230,7 +230,7 @@ bool Bond::waitUntilBroken(ros::Duration timeout)
bool Bond::waitUntilBroken(ros::WallDuration timeout)
{
boost::mutex::scoped_lock lock(mutex_);
ros::WallTime deadline(ros::WallTime::now() + timeout);
ros::SteadyTime deadline(ros::SteadyTime::now() + timeout);

while (sm_.getState().getId() != SM::Dead.getId()) {
if (!ros::ok()) {
Expand All @@ -239,7 +239,7 @@ bool Bond::waitUntilBroken(ros::WallDuration timeout)

ros::WallDuration wait_time = ros::WallDuration(0.1);
if (timeout >= ros::WallDuration(0.0)) {
wait_time = std::min(wait_time, deadline - ros::WallTime::now());
wait_time = std::min(wait_time, deadline - ros::SteadyTime::now());
}

if (wait_time <= ros::WallDuration(0.0)) {
Expand Down Expand Up @@ -337,7 +337,7 @@ void Bond::bondStatusCB(const bond::Status::ConstPtr &msg)
}
}

void Bond::doPublishing(const ros::WallTimerEvent &)
void Bond::doPublishing(const ros::SteadyTimerEvent &)
{
boost::mutex::scoped_lock lock(mutex_);
if (sm_.getState().getId() == SM::WaitingForSister.getId() ||
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8 changes: 4 additions & 4 deletions bondcpp/src/timeout.cpp
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Expand Up @@ -64,8 +64,8 @@ void Timeout::setDuration(const ros::WallDuration &d)
void Timeout::reset()
{
timer_.stop();
timer_ = nh_.createWallTimer(duration_, &Timeout::timerCallback, this, true);
deadline_ = ros::WallTime::now() + duration_;
timer_ = nh_.createSteadyTimer(duration_, &Timeout::timerCallback, this, true);
deadline_ = ros::SteadyTime::now() + duration_;
}

void Timeout::cancel()
Expand All @@ -75,10 +75,10 @@ void Timeout::cancel()

ros::WallDuration Timeout::left()
{
return std::max(ros::WallDuration(0.0), deadline_ - ros::WallTime::now());
return std::max(ros::WallDuration(0.0), deadline_ - ros::SteadyTime::now());
}

void Timeout::timerCallback(const ros::WallTimerEvent &)
void Timeout::timerCallback(const ros::SteadyTimerEvent &)
{
if (on_timeout_) {
on_timeout_();
Expand Down