00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2014, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #include "jsk_topic_tools/vital_checker.h" 00037 00038 namespace jsk_topic_tools 00039 { 00040 VitalChecker::VitalChecker(const double dead_sec): 00041 dead_sec_(dead_sec) 00042 { 00043 00044 } 00045 00046 VitalChecker::~VitalChecker() 00047 { 00048 00049 } 00050 00051 void VitalChecker::poke() 00052 { 00053 boost::mutex::scoped_lock lock(mutex_); 00054 last_alive_time_ = ros::Time::now(); 00055 } 00056 00057 double VitalChecker::lastAliveTimeRelative() 00058 { 00059 return (ros::Time::now() - last_alive_time_).toSec(); 00060 } 00061 00062 bool VitalChecker::isAlive() 00063 { 00064 bool ret; 00065 { 00066 boost::mutex::scoped_lock lock(mutex_); 00067 ret = (ros::Time::now() - last_alive_time_).toSec() < dead_sec_; 00068 } 00069 return ret; 00070 } 00071 00072 double VitalChecker::deadSec() 00073 { 00074 return dead_sec_; 00075 } 00076 00077 }