From 4293e314203dec749872d232256c21f003e455e5 Mon Sep 17 00:00:00 2001
From: Zain Wang <wzz@rock-chips.com>
Date: Mon, 10 Jun 2019 16:54:28 +0800
Subject: [PATCH] Revert "monotonic clock for callback queue timeouts (#1250)"

This reverts commit 2a8015fe6722720aae82832eeee9ca0846ac5e61.
---
 clients/roscpp/include/ros/callback_queue.h  | 16 +---------------
 clients/roscpp/src/libros/callback_queue.cpp | 17 ++---------------
 2 files changed, 3 insertions(+), 30 deletions(-)

diff --git a/clients/roscpp/include/ros/callback_queue.h b/clients/roscpp/include/ros/callback_queue.h
index 4fe811d..7afb682 100644
--- a/clients/roscpp/include/ros/callback_queue.h
+++ b/clients/roscpp/include/ros/callback_queue.h
@@ -35,21 +35,6 @@
 #ifndef ROSCPP_CALLBACK_QUEUE_H
 #define ROSCPP_CALLBACK_QUEUE_H
 
-// check if we might need to include our own backported version boost::condition_variable
-// in order to use CLOCK_MONOTONIC for the condition variable
-// the include order here is important!
-#ifdef BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
-#include <boost/version.hpp>
-#if BOOST_VERSION < 106100
-// use backported version of boost condition variable, see https://svn.boost.org/trac/boost/ticket/6377
-#include "boost_161_condition_variable.h"
-#else // Boost version is 1.61 or greater and has the steady clock fixes
-#include <boost/thread/condition_variable.hpp>
-#endif
-#else // !BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
-#include <boost/thread/condition_variable.hpp>
-#endif // BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
-
 #include "ros/callback_queue_interface.h"
 #include "ros/time.h"
 #include "common.h"
@@ -57,6 +42,7 @@
 #include <boost/shared_ptr.hpp>
 #include <boost/thread/mutex.hpp>
 #include <boost/thread/shared_mutex.hpp>
+#include <boost/thread/condition_variable.hpp>
 #include <boost/thread/tss.hpp>
 
 #include <list>
diff --git a/clients/roscpp/src/libros/callback_queue.cpp b/clients/roscpp/src/libros/callback_queue.cpp
index b2bab57..5827646 100644
--- a/clients/roscpp/src/libros/callback_queue.cpp
+++ b/clients/roscpp/src/libros/callback_queue.cpp
@@ -32,23 +32,10 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 
-// Make sure we use CLOCK_MONOTONIC for the condition variable wait_for if not Apple.
-#ifndef __APPLE__
-#define BOOST_THREAD_HAS_CONDATTR_SET_CLOCK_MONOTONIC
-#endif
-
 #include "ros/callback_queue.h"
 #include "ros/assert.h"
 #include <boost/scope_exit.hpp>
 
-// check if we have really included the backported boost condition variable
-// just in case someone messes with the include order...
-#if BOOST_VERSION < 106100
-#ifndef USING_BACKPORTED_BOOST_CONDITION_VARIABLE
-#error "needs boost version >= 1.61 or the backported headers!"
-#endif
-#endif
-
 namespace ros
 {
 
@@ -242,7 +229,7 @@ CallbackQueue::CallOneResult CallbackQueue::callOne(ros::WallDuration timeout)
     {
       if (!timeout.isZero())
       {
-        condition_.wait_for(lock, boost::chrono::nanoseconds(timeout.toNSec()));
+        condition_.timed_wait(lock, boost::posix_time::microseconds(timeout.toSec() * 1000000.0f));
       }
 
       if (callbacks_.empty())
@@ -318,7 +305,7 @@ void CallbackQueue::callAvailable(ros::WallDuration timeout)
     {
       if (!timeout.isZero())
       {
-        condition_.wait_for(lock, boost::chrono::nanoseconds(timeout.toNSec()));
+        condition_.timed_wait(lock, boost::posix_time::microseconds(timeout.toSec() * 1000000.0f));
       }
 
       if (callbacks_.empty() || !enabled_)
-- 
2.7.4