From 4293e314203dec749872d232256c21f003e455e5 Mon Sep 17 00:00:00 2001
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From: Zain Wang <wzz@rock-chips.com>
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Date: Mon, 10 Jun 2019 16:54:28 +0800
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Subject: [PATCH] Revert "monotonic clock for callback queue timeouts (#1250)"
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This reverts commit 2a8015fe6722720aae82832eeee9ca0846ac5e61.
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---
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clients/roscpp/include/ros/callback_queue.h | 16 +---------------
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clients/roscpp/src/libros/callback_queue.cpp | 17 ++---------------
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2 files changed, 3 insertions(+), 30 deletions(-)
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diff --git a/clients/roscpp/include/ros/callback_queue.h b/clients/roscpp/include/ros/callback_queue.h
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index 4fe811d..7afb682 100644
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--- a/clients/roscpp/include/ros/callback_queue.h
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+++ b/clients/roscpp/include/ros/callback_queue.h
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@@ -35,21 +35,6 @@
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#ifndef ROSCPP_CALLBACK_QUEUE_H
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#define ROSCPP_CALLBACK_QUEUE_H
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-// check if we might need to include our own backported version boost::condition_variable
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-// in order to use CLOCK_MONOTONIC for the condition variable
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-// the include order here is important!
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-#ifdef BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
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-#include <boost/version.hpp>
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-#if BOOST_VERSION < 106100
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-// use backported version of boost condition variable, see https://svn.boost.org/trac/boost/ticket/6377
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-#include "boost_161_condition_variable.h"
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-#else // Boost version is 1.61 or greater and has the steady clock fixes
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-#include <boost/thread/condition_variable.hpp>
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-#endif
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-#else // !BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
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-#include <boost/thread/condition_variable.hpp>
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-#endif // BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
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-
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#include "ros/callback_queue_interface.h"
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#include "ros/time.h"
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#include "common.h"
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@@ -57,6 +42,7 @@
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#include <boost/shared_ptr.hpp>
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#include <boost/thread/mutex.hpp>
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#include <boost/thread/shared_mutex.hpp>
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+#include <boost/thread/condition_variable.hpp>
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#include <boost/thread/tss.hpp>
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#include <list>
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diff --git a/clients/roscpp/src/libros/callback_queue.cpp b/clients/roscpp/src/libros/callback_queue.cpp
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index b2bab57..5827646 100644
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--- a/clients/roscpp/src/libros/callback_queue.cpp
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+++ b/clients/roscpp/src/libros/callback_queue.cpp
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@@ -32,23 +32,10 @@
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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-// Make sure we use CLOCK_MONOTONIC for the condition variable wait_for if not Apple.
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-#ifndef __APPLE__
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-#define BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
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-#endif
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-
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#include "ros/callback_queue.h"
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#include "ros/assert.h"
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#include <boost/scope_exit.hpp>
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-// check if we have really included the backported boost condition variable
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-// just in case someone messes with the include order...
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-#if BOOST_VERSION < 106100
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-#ifndef USING_BACKPORTED_BOOST_CONDITION_VARIABLE
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-#error "needs boost version >= 1.61 or the backported headers!"
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-#endif
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-#endif
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-
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namespace ros
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{
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@@ -242,7 +229,7 @@ CallbackQueue::CallOneResult CallbackQueue::callOne(ros::WallDuration timeout)
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{
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if (!timeout.isZero())
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{
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- condition_.wait_for(lock, boost::chrono::nanoseconds(timeout.toNSec()));
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+ condition_.timed_wait(lock, boost::posix_time::microseconds(timeout.toSec() * 1000000.0f));
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}
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if (callbacks_.empty())
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@@ -318,7 +305,7 @@ void CallbackQueue::callAvailable(ros::WallDuration timeout)
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{
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if (!timeout.isZero())
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{
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- condition_.wait_for(lock, boost::chrono::nanoseconds(timeout.toNSec()));
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+ condition_.timed_wait(lock, boost::posix_time::microseconds(timeout.toSec() * 1000000.0f));
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}
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if (callbacks_.empty() || !enabled_)
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--
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2.7.4
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