Project: engagement_recognition License: BSD Dependencies: engagement_msgs engagement_srvs roscpp Used by: None All Packages

engagement_recognition/src/recognition/semaphores/semaphore.cpp Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ // @author Brett Ponsler (bponsler (at) wpi (dot) edu) #include "semaphore.h" #include "errno.h" #include "../lib/engagement_params.h" #include <boost/interprocess/sync/posix/ptime_to_timespec.hpp> Semaphore::Semaphore(int value) { // Create the prefix for the logger std::string prefix = std::string(EngagementParams::getRecogTag()) + std::string(EngagementParams::getSemaphoreTag()); // Create the logger for the actor off of the RNode logger this->setLogger(prefix); // Create memory for the semaphore // NOTE: This fixed a problem with timed wait where it returns ENOSYS memset(&this->semaphore_, 0, sizeof(sem_t)); // Initialize the semaphore to the value if(sem_init(&this->semaphore_, 0, value) < 0) this->fatal("Unable to initialize the semaphore with value [%d].", value); } void Semaphore::post() { // Post the semaphore sem_post(&this->semaphore_); } void Semaphore::wait() { // Wait on the semaphore sem_wait(&this->semaphore_); } bool Semaphore::tryWait() { // Try to wait on the semaphore int ret = sem_trywait(&this->semaphore_); // Return the success of the try wait return (ret == 0); } bool Semaphore::timedWait(double time) { // Cannot wait less than zero seconds if (time < 0) { this->warn("Cannot wait for less than zero seconds."); return false; } // Create the maximum time this semaphore should block for boost::posix_time::ptime duration = boost::posix_time::microsec_clock::universal_time() + boost::posix_time::millisec(time * 1000); // Convert the boost time into a timespec object timespec tspec = boost::interprocess::detail::ptime_to_timespec(duration); // Wait on the semaphore int ret = sem_timedwait(&this->semaphore_, &tspec); // Return true if this succeeded // Set errno to the return value if it's larger than zero if (ret == 0) return true; else if (ret > 0) errno = ret; // If the semaphore did not timeout print out an error if (errno != ETIMEDOUT) { this->error("Failed to call timed wait for [%lf] seconds. error: [%d]", time, errno); } // The semaphore timed out or failed to be called return false; } int Semaphore::getValue() { int value; // Grab the value of the semaphore sem_getvalue(&this->semaphore_, &value); return value; }

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engagement_recognition
Author(s): Brett Ponsler (bponsler (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:48 2011