GenericKiller.cpp

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/*
 * GenericKiller.cpp
 *
 *  Created on: Aug 13, 2012
 *      Author: tnestmeyer
 */

#include "GenericKiller.hpp"

#include <telekyb_base/TeleKyb.hpp>

namespace TELEKYB_NAMESPACE {

GenericKiller::GenericKiller()
{
        msgTimer.reset();
        sub = n.subscribe<ShapeShifter>(options.tTopicName->getValue(), 10, &GenericKiller::callback, this);
}

GenericKiller::~GenericKiller() {

}

// run
void GenericKiller::run() {

        // 1/4 of the message timeout
        Time sleepTime(options.tTimeOut->getValue()/4);

        while (ros::ok()) {

                if (msgTimer.getElapsed().toDSec() > options.tTimeOut->getValue()) {
                        ROS_WARN("No Message received within timeout. Killing Process %s", options.tProcessName->getValue().c_str());
                        // kill the process
                        std::string killCall = std::string("killall ") + options.tProcessName->getValue();
                        if (system(killCall.c_str()) < 0) {
                                ROS_ERROR("An error occurred while trying to execute \"%s\"", killCall.c_str());
                        }

                        // break
                        break;
                }

                sleepTime.sleep();
        }
}


void GenericKiller::callback(const boost::shared_ptr<ShapeShifter const>& msg)
{
// Received Message // reset msgTimer
        msgTimer.reset();
}



} /* namespace telekyb */


int main(int argc, char **argv) {
        telekyb::TeleKyb::init(argc,argv, "generic_killer", ros::init_options::AnonymousName);

        telekyb::GenericKiller *g = new telekyb::GenericKiller();

        if (ros::ok()) {
                g->run();
        }

        delete g;

        telekyb::TeleKyb::shutdown();
        return 0;
}