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 #ifndef JSK_TOPIC_TOOLS_VITAL_CHECKER_H_ 00037 #define JSK_TOPIC_TOOLS_VITAL_CHECKER_H_ 00038 00039 #include <ros/time.h> 00040 #include <boost/accumulators/accumulators.hpp> 00041 #include <boost/accumulators/statistics/stats.hpp> 00042 #include <boost/accumulators/statistics/min.hpp> 00043 #include <boost/accumulators/statistics/max.hpp> 00044 #include <boost/accumulators/statistics/variance.hpp> 00045 00046 #include <boost/timer.hpp> 00047 00048 #include <boost/thread.hpp> 00049 00050 namespace jsk_topic_tools 00051 { 00052 // multi-thread safe 00053 class VitalChecker 00054 { 00055 public: 00056 typedef boost::shared_ptr<VitalChecker> Ptr; 00057 VitalChecker(const double dead_sec); 00058 virtual ~VitalChecker(); 00059 void poke(); 00060 bool isAlive(); 00061 double deadSec(); 00062 double lastAliveTimeRelative(); 00063 protected: 00064 ros::Time last_alive_time_; 00065 double dead_sec_; 00066 boost::mutex mutex_; 00067 private: 00068 }; 00069 } 00070 00071 #endif