vital_checker.cpp

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// -*- mode: c++ -*-
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#include "jsk_topic_tools/vital_checker.h"

namespace jsk_topic_tools
{
  VitalChecker::VitalChecker(const double dead_sec):
    dead_sec_(dead_sec)
  {

  }

  VitalChecker::~VitalChecker()
  {

  }

  void VitalChecker::poke()
  {
    boost::mutex::scoped_lock lock(mutex_);
    last_alive_time_ = ros::Time::now();
  }

  double VitalChecker::lastAliveTimeRelative()
  {
    return (ros::Time::now() - last_alive_time_).toSec();
  }
  
  bool VitalChecker::isAlive()
  {
    bool ret;
    {
     boost::mutex::scoped_lock lock(mutex_);
     ret = (ros::Time::now() - last_alive_time_).toSec() < dead_sec_;
    }
    return ret;
  }

  double VitalChecker::deadSec()
  {
    return dead_sec_;
  }

}