From b41785480512a2021bd8978eb54e04870c77ed5c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Wed, 26 Oct 2016 16:21:07 +0000
Subject: [PATCH] Moved the header files to the iri_ros_tools folder inside the
include folder. Removed the update function from the watchdog class.
---
CMakeLists.txt | 8 ++------
include/{ => iri_ros_tools}/timeout.h | 2 +-
include/{ => iri_ros_tools}/watchdog.h | 3 +--
src/timeout.cpp | 4 ++--
src/watchdog.cpp | 10 ++--------
5 files changed, 8 insertions(+), 19 deletions(-)
rename include/{ => iri_ros_tools}/timeout.h (87%)
rename include/{ => iri_ros_tools}/watchdog.h (85%)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fb0fadd..1a8a2aa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,9 +77,8 @@ find_package(catkin REQUIRED)
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
-# LIBRARIES ${PROJECT_NAME}
+ LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS roscpp
-# DEPENDS system_lib
)
###########
@@ -104,9 +103,6 @@ add_library(${PROJECT_NAME} src/timeout.cpp src/watchdog.cpp)
# add_dependencies(iri_ros_tool_node iri_ros_tool_generate_messages_cpp)
## Specify libraries to link a library or executable target against
-# target_link_libraries(iri_ros_tool_node
-# ${catkin_LIBRARIES}
-# )
#############
## Install ##
@@ -130,7 +126,7 @@ add_library(${PROJECT_NAME} src/timeout.cpp src/watchdog.cpp)
# )
## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
+# install(DIRECTORY include
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
diff --git a/include/timeout.h b/include/iri_ros_tools/timeout.h
similarity index 87%
rename from include/timeout.h
rename to include/iri_ros_tools/timeout.h
index dec93a6..e45688e 100644
--- a/include/timeout.h
+++ b/include/iri_ros_tools/timeout.h
@@ -13,7 +13,7 @@ class CROSTimeout
pthread_mutex_t access_;
public:
CROSTimeout();
- void start(ros::Duration &time);
+ void start(const ros::Duration &time);
void stop(void);
bool timed_out(void);
~CROSTimeout();
diff --git a/include/watchdog.h b/include/iri_ros_tools/watchdog.h
similarity index 85%
rename from include/watchdog.h
rename to include/iri_ros_tools/watchdog.h
index 731d5eb..f910997 100644
--- a/include/watchdog.h
+++ b/include/iri_ros_tools/watchdog.h
@@ -1,5 +1,5 @@
#ifndef _WATCHDOG_H
-#define _WATCHDOF_H
+#define _WATCHDOG_H
#include <ros/ros.h>
@@ -11,7 +11,6 @@ class CROSWatchdog
public:
CROSWatchdog();
void reset(ros::Duration time);
- void update(void);
bool is_active(void);
~CROSWatchdog();
};
diff --git a/src/timeout.cpp b/src/timeout.cpp
index c5565cf..600c910 100644
--- a/src/timeout.cpp
+++ b/src/timeout.cpp
@@ -1,4 +1,4 @@
-#include "timeout.h"
+#include "iri_ros_tools/timeout.h"
CROSTimeout::CROSTimeout()
{
@@ -9,7 +9,7 @@ CROSTimeout::CROSTimeout()
this->active=false;
}
-void CROSTimeout::start(ros::Duration &time)
+void CROSTimeout::start(const ros::Duration &time)
{
pthread_mutex_lock(&this->access_);
this->time_period = time;
diff --git a/src/watchdog.cpp b/src/watchdog.cpp
index a1ab239..11507a0 100644
--- a/src/watchdog.cpp
+++ b/src/watchdog.cpp
@@ -1,4 +1,4 @@
-#include "watchdog.h"
+#include "iri_ros_tools/watchdog.h"
CROSWatchdog::CROSWatchdog()
{
@@ -13,7 +13,7 @@ void CROSWatchdog::reset(ros::Duration time)
pthread_mutex_unlock(&this->access_);
}
-void CROSWatchdog::update(void)
+bool CROSWatchdog::is_active(void)
{
static ros::Time start_time=ros::Time::now();
ros::Time current_time=ros::Time::now();
@@ -21,12 +21,6 @@ void CROSWatchdog::update(void)
pthread_mutex_lock(&this->access_);
this->max_time-=(current_time-start_time);
start_time=current_time;
- pthread_mutex_unlock(&this->access_);
-}
-
-bool CROSWatchdog::is_active(void)
-{
- pthread_mutex_lock(&this->access_);
if(this->max_time.toSec()<=0.0)
{
pthread_mutex_unlock(&this->access_);
--
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