[Jderobot-admin] jderobot-r1131 - trunk/src/stable/libs/parallelIce

[rocapal en jderobot.org]

Author: rocapal
Date: 2013-12-26 16:52:03 +0100 (Thu, 26 Dec 2013)
New Revision: 1131

Modified:
   trunk/src/stable/libs/parallelIce/CMakeLists.txt
   trunk/src/stable/libs/parallelIce/cameraClient.cpp
Log:
#123 fixed bug about sleep with unsigned int


Modified: trunk/src/stable/libs/parallelIce/CMakeLists.txt
===================================================================
--- trunk/src/stable/libs/parallelIce/CMakeLists.txt	2013-12-16 22:54:27 UTC (rev 1130)
+++ trunk/src/stable/libs/parallelIce/CMakeLists.txt	2013-12-26 15:52:03 UTC (rev 1131)
@@ -6,10 +6,10 @@
 include_directories( ${LIBS_DIR}/)
 
 add_library (parallelIce STATIC cameraClient.cpp  cameraClient.h  pointcloudClient.cpp  pointcloudClient.h laserClient.cpp laserClient.h)
-TARGET_LINK_LIBRARIES(parallelIce colorspacesmm)
+TARGET_LINK_LIBRARIES(parallelIce colorspacesmm ${Boost_LIBRARIES})
 
 add_library (parallelIceshare SHARED cameraClient.cpp  cameraClient.h  pointcloudClient.cpp  pointcloudClient.h laserClient.cpp laserClient.h)
-TARGET_LINK_LIBRARIES(parallelIceshare colorspacesmmshare)
+TARGET_LINK_LIBRARIES(parallelIceshare colorspacesmmshare ${Boost_LIBRARIES})
 
 
 set_target_properties(parallelIceshare PROPERTIES OUTPUT_NAME parallelIce)

Modified: trunk/src/stable/libs/parallelIce/cameraClient.cpp
===================================================================
--- trunk/src/stable/libs/parallelIce/cameraClient.cpp	2013-12-16 22:54:27 UTC (rev 1130)
+++ trunk/src/stable/libs/parallelIce/cameraClient.cpp	2013-12-26 15:52:03 UTC (rev 1131)
@@ -109,12 +109,19 @@
 		localData.copyTo(this->data);
 		this->controlMutex.unlock();
 
-		if ((IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds()) > this->cycle ){
+		int delay = this->cycle - (IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds());
+
+		if (delay > this->cycle ){
 			if (this->debug)
 				std::cout<<"--------" << prefix << " adquisition timeout-" << std::endl;
 		}
 		else{
-			usleep(this->cycle - (IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds()));
+
+			if (delay < 1 || delay > this->cycle)
+				delay = 1;
+
+			usleep(delay);
+
 		}
 
 		int rate =(int)(1000000/(IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds()));