// check if no tick was received is TIMEOUT_THRESHOLD
bool ROSAction::timeout_check() // called from executionThread
{
ros::Duration dt = (ros::Duration) 0;
{
boost::lock_guard<boost::mutex> lock_a(mutex_start_time_);
boost::lock_guard<boost::mutex> lock_b(mutex_elapsed_time_);
dt = elapsed_time_ = ros::Time::now() - start_time_;
}
std::cout << "elapsed_time since tick: " << dt.toSec() << std::endl;
return dt.toSec() > TIMEOUT_THRESHOLD ? false : true;
}
void swap(Widget &lhs, Widget &rhs)
{
if (&lhs != &rhs) {
std::unique_lock<std::mutex> lock_a(lhs.m_mutex, std::defer_lock);
std::unique_lock<std::mutex> lock_b(rhs.m_mutex, std::defer_lock);
std::lock(lock_a, lock_b);
std::swap(lhs.m_name, rhs.m_name);
}
}
void do_another_thing(X& _OtherX, int& k)
{
//每个线程中弄个随机数，让线程都随机停上几毫秒，打乱运行顺序
std::random_device rd;
std::this_thread::sleep_for(std::chrono::milliseconds(rd() % 11));
//锁住两个互斥量
std::lock(_OtherX.some_mutex, some_mutex);
//创建lock_guard对象，std::adopt_lock表示现成的锁，不创建新锁
std::lock_guard<std::mutex> lock_a(_OtherX.some_mutex, std::adopt_lock);
std::lock_guard<std::mutex> lock_b(some_mutex, std::adopt_lock);
m = m + 1;
_OtherX.m = _OtherX.m + k;
std::cout << "m=" << m << "\t_OtherX.m=" << _OtherX.m << std::endl;
}
void *functionA(struct group * g)
{
struct group * h = g;
fprintf(stderr,"\nThread %p started.",&g);
while(iterations--){
lock_a(h);
usleep(random() % 50);
lock_b(g);
g->v ++;
usleep(random() % 50);
unlock_b(g);
usleep(random() % 50);
unlock_a(h);
}
fprintf(stderr,"\nThread %p done.",&g);
return (void *) 0;
}
friend void swap(X& lhs, X& rhs)
{
if(&lhs==&rhs)
return;
std::cout << "in funswap" << std::endl;
std::unique_lock<std::mutex> lock_a(lhs.m,std::defer_lock);
std::unique_lock<std::mutex> lock_b(rhs.m,std::defer_lock);
/* defer_lock 인자를 이용하여 lock 생성시 unlock 상태로 생성한다 */
std::cout << "owns_lock " << lock_a.owns_lock() << std::endl;
/* 현재 mutex 소유권 확인 */
std::lock(lock_a,lock_b);
std::cout << "owns_lock " << lock_a.owns_lock() << std::endl;
swap(lhs.some_detail,rhs.some_detail);
} /* unique_lock 은 mutex 객체의 소유권 플래그를 확인하여 소유권을 가지고 있으면 소멸자에서 unlock 한다 */
int get_detail() const
{
std::lock_guard<std::mutex> lock_a(m);
return some_detail;
}
