use SteadyTime for some timeouts

ros · Mar 7, 2017 · da1fec3 · da1fec3
1 parent ad2b49e
commit da1fec3
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Showing 6 changed files with 17 additions and 14 deletions.
diff --git a/clients/roscpp/include/ros/internal_timer_manager.h b/clients/roscpp/include/ros/internal_timer_manager.h
@@ -36,7 +36,7 @@ namespace ros
 {
 
 template<typename T, typename D, typename E> class TimerManager;
-typedef TimerManager<WallTime, WallDuration, WallTimerEvent> InternalTimerManager;
+typedef TimerManager<SteadyTime, WallDuration, SteadyTimerEvent> InternalTimerManager;
 typedef boost::shared_ptr<InternalTimerManager> InternalTimerManagerPtr;
 
 ROSCPP_DECL void initInternalTimerManager();

diff --git a/clients/roscpp/include/ros/timer_manager.h b/clients/roscpp/include/ros/timer_manager.h
@@ -193,9 +193,9 @@ class TimerManager
  event.current_real = T::now();
  event.profile.last_duration = info->last_cb_duration;
 
- WallTime cb_start = WallTime::now();
+ SteadyTime cb_start = SteadyTime::now();
  info->callback(event);
- WallTime cb_end = WallTime::now();
+ SteadyTime cb_end = SteadyTime::now();
  info->last_cb_duration = cb_end - cb_start;
 
  info->last_real = event.current_real;
@@ -573,7 +573,7 @@ void TimerManager<T, D, E>::threadFunc()
  }
  else
  {
- // we have to distinguish between MonotonicTime and WallTime here,
+ // we have to distinguish between SteadyTime and WallTime here,
  // because boost timed_wait with duration just adds the duration to current system time
  // this however requires boost 1.61, see: https://svn.boost.org/trac/boost/ticket/6377
  if (typeid(T) == typeid(SteadyTime))

diff --git a/clients/roscpp/include/ros/transport_publisher_link.h b/clients/roscpp/include/ros/transport_publisher_link.h
@@ -42,7 +42,7 @@ typedef boost::weak_ptr<Subscription> SubscriptionWPtr;
 class Connection;
 typedef boost::shared_ptr<Connection> ConnectionPtr;
 
-struct WallTimerEvent;
+struct SteadyTimerEvent;
 
 /**
  * \brief Handles a connection to a single publisher on a given topic. Receives messages from a publisher
@@ -76,14 +76,14 @@ class ROSCPP_DECL TransportPublisherLink : public PublisherLink
  void onMessageLength(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
  void onMessage(const ConnectionPtr& conn, const boost::shared_array<uint8_t>& buffer, uint32_t size, bool success);
 
- void onRetryTimer(const ros::WallTimerEvent&);
+ void onRetryTimer(const ros::SteadyTimerEvent&);
 
  ConnectionPtr connection_;
 
  int32_t retry_timer_handle_;
  bool needs_retry_;
  WallDuration retry_period_;
- WallTime next_retry_;
+ SteadyTime next_retry_;
  bool dropping_;
 };
 typedef boost::shared_ptr<TransportPublisherLink> TransportPublisherLinkPtr;

diff --git a/clients/roscpp/src/libros/internal_timer_manager.cpp b/clients/roscpp/src/libros/internal_timer_manager.cpp
@@ -25,8 +25,11 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "ros/internal_timer_manager.h"
+// make sure we use CLOCK_MONOTONIC for the condition variable
+#define BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
+
 #include "ros/timer_manager.h"
+#include "ros/internal_timer_manager.h"
 
 namespace ros
 {

diff --git a/clients/roscpp/src/libros/master.cpp b/clients/roscpp/src/libros/master.cpp
@@ -178,7 +178,7 @@ boost::mutex g_xmlrpc_call_mutex;
 
 bool execute(const std::string& method, const XmlRpc::XmlRpcValue& request, XmlRpc::XmlRpcValue& response, XmlRpc::XmlRpcValue& payload, bool wait_for_master)
 {
- ros::WallTime start_time = ros::WallTime::now();
+ ros::SteadyTime start_time = ros::SteadyTime::now();
 
  std::string master_host = getHost();
  uint32_t master_port = getPort();
@@ -213,7 +213,7 @@ bool execute(const std::string& method, const XmlRpc::XmlRpcValue& request, XmlR
  return false;
  }
 
- if (!g_retry_timeout.isZero() && (ros::WallTime::now() - start_time) >= g_retry_timeout)
+ if (!g_retry_timeout.isZero() && (ros::SteadyTime::now() - start_time) >= g_retry_timeout)
  {
  ROS_ERROR("[%s] Timed out trying to connect to the master after [%f] seconds", method.c_str(), g_retry_timeout.toSec());
  XMLRPCManager::instance()->releaseXMLRPCClient(c);

diff --git a/clients/roscpp/src/libros/transport_publisher_link.cpp b/clients/roscpp/src/libros/transport_publisher_link.cpp
@@ -198,14 +198,14 @@ void TransportPublisherLink::onMessage(const ConnectionPtr& conn, const boost::s
  }
 }
 
-void TransportPublisherLink::onRetryTimer(const ros::WallTimerEvent&)
+void TransportPublisherLink::onRetryTimer(const ros::SteadyTimerEvent&)
 {
  if (dropping_)
  {
  return;
  }
 
- if (needs_retry_ && WallTime::now() > next_retry_)
+ if (needs_retry_ && SteadyTime::now() > next_retry_)
  {
  retry_period_ = std::min(retry_period_ * 2, WallDuration(20));
  needs_retry_ = false;
@@ -268,12 +268,12 @@ void TransportPublisherLink::onConnectionDropped(const ConnectionPtr& conn, Conn
 
  ROS_ASSERT(!needs_retry_);
  needs_retry_ = true;
- next_retry_ = WallTime::now() + retry_period_;
+ next_retry_ = SteadyTime::now() + retry_period_;
 
  if (retry_timer_handle_ == -1)
  {
  retry_period_ = WallDuration(0.1);
- next_retry_ = WallTime::now() + retry_period_;
+ next_retry_ = SteadyTime::now() + retry_period_;
  // shared_from_this() shared_ptr is used to ensure TransportPublisherLink is not
  // destroyed in the middle of onRetryTimer execution
  retry_timer_handle_ = getInternalTimerManager()->add(WallDuration(retry_period_),