diff --git a/CMakeLists.txt b/CMakeLists.txt
index 66272b2e35e02ec5ccb33605800eb3f3b8bd4e27..73f91c747c10eec4cf8343242ef65279fecaf7f7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,9 +23,7 @@ SET(sources ./src/iri_base_driver.cpp)
# edit the following line to add all the header files of the library
SET(headers ./include/iri_base_driver.h ./include/iri_base_driver_node.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_driver/iri_base_driver.h b/include/iri_base_driver/iri_base_driver.h
index 51ade143ccd9e55a5d6f8ab1b1b57980b31e108b..90d5cac9a19a3240932fe71af64f580ee45f14d1 100644
--- a/include/iri_base_driver/iri_base_driver.h
+++ b/include/iri_base_driver/iri_base_driver.h
@@ -22,7 +22,6 @@
// ros base driver class
#include "driver_base/driver.h"
#include "ros/ros.h"
-#include "mutex.h"
namespace iri_base_driver
{
@@ -60,14 +59,15 @@ class IriBaseDriver : public driver_base::Driver
*/
std::string driver_id_;
- /**
- * \brief driver mutex
- *
- * This variable is used to block access to the driver resource. Public
- * methods such as lock, unlock and try_enter provide an interface to
- * avoid multiple concurrent access.
- */
- CMutex access_;
+ /**
+ * \brief variable to handle the mutual exclusion mechanism
+ *
+ * this variable is automatically initialized when an object of this class
+ * or any inherited class is created and holds all the necessary information
+ * to handle any shared resource.
+ *
+ */
+ pthread_mutex_t access_;
/**
* \brief Set Driver Id
diff --git a/include/iri_base_driver/iri_base_driver_node.h b/include/iri_base_driver/iri_base_driver_node.h
index 7eb719d3bb4b8b28aed9d16d776dcdf266cb486e..cdbee840ac9b6f4debd347d564575d98843f0b4a 100644
--- a/include/iri_base_driver/iri_base_driver_node.h
+++ b/include/iri_base_driver/iri_base_driver_node.h
@@ -24,10 +24,6 @@
#include <diagnostic_updater/diagnostic_updater.h>
#include "iri_base_driver.h"
-// iri-utils thread server
-#include "threadserver.h"
-#include "exceptions.h"
-
namespace iri_base_driver
{
@@ -65,24 +61,15 @@ template <class Driver>
class IriBaseNodeDriver : public driver_base::DriverNode<Driver>
{
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 main node post open hook
@@ -275,12 +262,7 @@ IriBaseNodeDriver<Driver>::IriBaseNodeDriver(ros::NodeHandle &nh) :
this->driver_.setPreCloseHook(boost::bind(&IriBaseNodeDriver::preNodeCloseHook, this));
// create the status thread
- this->thread_server_=CThreadServer::instance();
- this->main_thread_id_="main_thread";
-
- this->thread_server_->create_thread(this->main_thread_id_);
- this->thread_server_->attach_thread(this->main_thread_id_, this->mainThread, this);
- this->thread_server_->start_thread( this->main_thread_id_);
+ pthread_create(&this->thread,NULL,this->mainThread,this);
// initialize class attributes
}
@@ -300,8 +282,9 @@ void *IriBaseNodeDriver<Driver>::mainThread(void *param)
iriNode->mainNodeThread();
// ros::spinOnce();
- iriNode->loop_rate_.sleep();
}
+ iriNode->loop_rate_.sleep();
+
}
pthread_exit(NULL);
@@ -369,20 +352,14 @@ template <class Driver>
IriBaseNodeDriver<Driver>::~IriBaseNodeDriver()
{
ROS_DEBUG("IriBaseNodeDriver::Destrcutor");
- try
- {
- //try access to driver to assert it is
- //unlock before its destruction
- this->driver_.try_enter();
- this->driver_.unlock();
- }
- catch(CException e)
- {
- std::cout << e.what() << std::endl;
- }
+ //try access to driver to assert it is
+ //unlock before its destruction
+ this->driver_.try_enter();
+ this->driver_.unlock();
this->driver_.close();
- this->thread_server_->kill_thread(this->main_thread_id_);
+ pthread_cancel(this->thread);
+ pthread_join(this->thread,NULL);
}
}
diff --git a/manifest.xml b/manifest.xml
index ec77159f9233eb3c6b2527b87d2ea0527c05e9a5..0c40aa86d16d6562b297445bb410952003c3f25d 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -4,8 +4,8 @@
iri_base_driver
</description>
- <author></author>
- <license>BSD</license>
+ <author>Joan Perez, jnperez at iri.upc.edu</author>
+ <license>LGPL</license>
<review status="unreviewed" notes=""/>
<url>http://ros.org/wiki/iri_base_driver</url>
diff --git a/src/iri_base_driver.cpp b/src/iri_base_driver.cpp
index 8cd74c139cefc8503938469aa1d1f3bb99a2b003..984f667e0f70e6cb852336486b0f0c4cb1933d31 100644
--- a/src/iri_base_driver.cpp
+++ b/src/iri_base_driver.cpp
@@ -5,21 +5,25 @@ namespace iri_base_driver
IriBaseDriver::IriBaseDriver() : driver_id_("none")
{
+ pthread_mutex_init(&this->access_,NULL);
}
void IriBaseDriver::lock(void)
{
- this->access_.enter();
+ pthread_mutex_lock(&this->access_);
}
void IriBaseDriver::unlock(void)
{
- this->access_.exit();
+ pthread_mutex_unlock(&this->access_);
}
bool IriBaseDriver::try_enter(void)
{
- return this->access_.try_enter();
+ if(pthread_mutex_trylock(&this->access_)==0)
+ return true;
+ else
+ return false;
}
void IriBaseDriver::setDriverId(const std::string & id)
@@ -60,6 +64,7 @@ void IriBaseDriver::setPreCloseHook(hookFunction f)
IriBaseDriver::~IriBaseDriver()
{
+ pthread_mutex_destroy(&this->access_);
}
}