From 6a22f43e6fa7d80d22648708cc71455be6fb66dd Mon Sep 17 00:00:00 2001
From: Fernando Herrero Cotarelo <fherrero@iri.upc.edu>
Date: Thu, 17 Nov 2016 17:29:34 +0000
Subject: [PATCH] iri_ros_tools: watchdog: changed start_time from static to
class member.
---
include/iri_ros_tools/watchdog.h | 1 +
src/watchdog.cpp | 6 +++---
2 files changed, 4 insertions(+), 3 deletions(-)
diff --git a/include/iri_ros_tools/watchdog.h b/include/iri_ros_tools/watchdog.h
index f910997..3cf8660 100644
--- a/include/iri_ros_tools/watchdog.h
+++ b/include/iri_ros_tools/watchdog.h
@@ -6,6 +6,7 @@
class CROSWatchdog
{
private:
+ ros::Time start_time;
ros::Duration max_time;
pthread_mutex_t access_;
public:
diff --git a/src/watchdog.cpp b/src/watchdog.cpp
index 11507a0..bfb1a66 100644
--- a/src/watchdog.cpp
+++ b/src/watchdog.cpp
@@ -15,12 +15,12 @@ void CROSWatchdog::reset(ros::Duration time)
bool CROSWatchdog::is_active(void)
{
- static ros::Time start_time=ros::Time::now();
+ this->start_time=ros::Time::now();
ros::Time current_time=ros::Time::now();
pthread_mutex_lock(&this->access_);
- this->max_time-=(current_time-start_time);
- start_time=current_time;
+ this->max_time-=(current_time-this->start_time);
+ this->start_time=current_time;
if(this->max_time.toSec()<=0.0)
{
pthread_mutex_unlock(&this->access_);
--
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