From 3fb3b43baa0e4d462a52599a74905450ae564eb3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Thu, 5 Dec 2013 14:05:08 +0000
Subject: [PATCH] Removed the dependencies on the iriutils library from the
iri_base_algorithm
---
CMakeLists.txt | 4 +-
.../iri_base_algorithm/iri_base_algorithm.h | 50 +++++--------------
2 files changed, 14 insertions(+), 40 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 87a9622..6ce13fd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,9 +23,7 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
# edit the following line to add all the header files of the library
# SET(headers ./include/iri_base_algorithm.h)
-# FIND_PACKAGE(iriutils REQUIRED)
-
-# INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR} ${headers})
+# INCLUDE_DIRECTORIES(${headers})
#common commands for building c++ executables and libraries
# rosbuild_add_library(${PROJECT_NAME} SHARED ${sources})
diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index 012fb8c..e0d3026 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -22,11 +22,6 @@
#include <ros/ros.h>
#include <signal.h>
-// iri-utils thread server
-#include "threadserver.h"
-#include "exceptions.h"
-#include "mutex.h"
-
// boost thread includes for ROS::spin thread
#include <boost/thread.hpp>
#include <boost/bind.hpp>
@@ -98,24 +93,15 @@ class IriBaseAlgorithm : public AbstractAlgorithmNode
typedef typename Algorithm::Config Config;
protected:
- /**
- * \brief Reference to the unique thread handler
- *
- * This reference to the unique thread handler is initialized when an object
- * of this class is first created. It is used to create and handle all the
- * IriBaseNodeDriver threads. The object pointed by this reference is shared
- * by all objects in any application.
- */
- CThreadServer *thread_server_;
-
- /**
- * \brief identifier of the node main thread
- *
- * This string has the identifier of the main IriBaseNodeDriver thread.
- * This string is initialized at contruction time. This thread is only used
- * internally to the class, so it is not possible to get its identifier out.
- */
- std::string main_thread_id_;
+ /**
+ * \brief Thread information structure
+ *
+ * This structure hold system level information of the thread and it is
+ * initialized when the thread is first created. This information can not
+ * be modified at any time and it is not accessible from outside the class.
+ *
+ */
+ pthread_t thread;
/**
* \brief template algorithm class
@@ -299,15 +285,9 @@ IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm() :
dsrv_(private_node_handle_)
{
ROS_DEBUG("IriBaseAlgorithm::Constructor");
- // create thread server instance
- this->thread_server_ = CThreadServer::instance();
-
- // identify main thread
- this->main_thread_id_ = "main_thread";
- // create main thread and attach to server
- this->thread_server_->create_thread(this->main_thread_id_);
- this->thread_server_->attach_thread(this->main_thread_id_, this->mainThread, this);
+ // create the status thread
+ pthread_create(&this->thread,NULL,this->mainThread,this);
// // assign callback to dynamic reconfigure server
// dsrv_.setCallback(boost::bind(&IriBaseAlgorithm<Algorithm>::reconfigureCallback, this, _1, _2));
@@ -318,9 +298,8 @@ template <class Algorithm>
IriBaseAlgorithm<Algorithm>::~IriBaseAlgorithm()
{
ROS_DEBUG("IriBaseAlgorithm::Destructor");
-
- this->thread_server_->kill_thread(this->main_thread_id_);
- this->thread_server_->delete_thread(this->main_thread_id_);
+ pthread_cancel(this->thread);
+ pthread_join(this->thread,NULL);
}
template <class Algorithm>
@@ -375,9 +354,6 @@ int IriBaseAlgorithm<Algorithm>::spin(void)
// assign callback to dynamic reconfigure server
this->dsrv_.setCallback(boost::bind(&IriBaseAlgorithm<Algorithm>::reconfigureCallback, this, _1, _2));
- // launch node thread
- this->thread_server_->start_thread( this->main_thread_id_);
-
while(ros::ok() && !ctrl_c_hit_count_)
{
// update diagnostics
--
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