vital_checker.cpp
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
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00005  *  Copyright (c) 2014, JSK Lab
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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 }


jsk_topic_tools
Author(s): Kei Okada , Yusuke Furuta
autogenerated on Sun Jan 25 2015 12:38:34