[Jderobot-admin] jderobot-r1179 - trunk/src/stable/libs/parallelIce

[rocapal en jderobot.org]

Author: rocapal
Date: 2014-03-03 19:53:35 +0100 (Mon, 03 Mar 2014)
New Revision: 1179

Modified:
   trunk/src/stable/libs/parallelIce/cameraClient.cpp
   trunk/src/stable/libs/parallelIce/pointcloudClient.cpp
Log:
#145 fixed bug about sleep


Modified: trunk/src/stable/libs/parallelIce/cameraClient.cpp
===================================================================
--- trunk/src/stable/libs/parallelIce/cameraClient.cpp	2014-03-03 18:46:28 UTC (rev 1178)
+++ trunk/src/stable/libs/parallelIce/cameraClient.cpp	2014-03-03 18:53:35 UTC (rev 1179)
@@ -113,21 +113,21 @@
 		localData.copyTo(this->data);
 		this->controlMutex.unlock();
 
-		int delay = this->cycle - (IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds());
+		int process = this->cycle - (IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds());
 
-		if (delay > this->cycle ){
-			if (this->debug)
+		if (process > (int)cycle ){
+			if (debug==3)
 				std::cout<<"--------" << prefix << " adquisition timeout-" << std::endl;
 		}
 		else{
-
-			if (delay < 1 || delay > this->cycle)
+			int delay = (int)cycle - process;
+			if (delay <1 || delay > (int)cycle)
 				delay = 1;
 
 			usleep(delay);
-
 		}
 
+
 		int rate =(int)(1000000/(IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds()));
 		totalRefreshRate =  totalRefreshRate + rate;
 		this->refreshRate= totalRefreshRate / iterIndex;		

Modified: trunk/src/stable/libs/parallelIce/pointcloudClient.cpp
===================================================================
--- trunk/src/stable/libs/parallelIce/pointcloudClient.cpp	2014-03-03 18:46:28 UTC (rev 1178)
+++ trunk/src/stable/libs/parallelIce/pointcloudClient.cpp	2014-03-03 18:53:35 UTC (rev 1179)
@@ -90,13 +90,23 @@
 		std::copy( localCloud->p.begin(), localCloud->p.end(), this->data.begin() );
 
 		this->controlMutex.unlock();
-		if ((IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds()) > this->cycle ){
-			if (this->debug)
-				std::cout<< prefix << ": pointCloud adquisition timeout-" << std::endl;
+
+
+		int process = this->cycle - (IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds());
+
+		if (process > (int)cycle ){
+			if (debug==3)
+				std::cout<<"--------" << prefix << ": pointCloud adquisition timeout-" << std::endl;
 		}
 		else{
-			usleep(this->cycle - (IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds()));
+			int delay = (int)cycle - process;
+			if (delay <1 || delay > (int)cycle)
+				delay = 1;
+
+			usleep(delay);
 		}
+
+
 		this->refreshRate=(int)(1000000/(IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds()));
 		last=IceUtil::Time::now();
 	}