Last change
on this file since 49 was
49,
checked in by wcaarls, 11 years ago
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Reinstated rosbuild shared_serial (catkin version is now on github)
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File size:
572 bytes
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Line | |
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1 | #ifndef __SS_WATCHDOG_H |
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2 | #define __SS_WATCHDOG_H |
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3 | |
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4 | #include <pthread.h> |
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5 | |
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6 | class WatchdogThread |
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7 | { |
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8 | protected: |
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9 | pthread_t thread_; |
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10 | pthread_mutex_t mutex_; |
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11 | double interval_; |
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12 | bool kicked_, set_; |
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13 | |
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14 | public: |
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15 | WatchdogThread() : set_(false) { } |
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16 | WatchdogThread(double interval) : set_(false) { set(interval); } |
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17 | virtual ~WatchdogThread(); |
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18 | |
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19 | bool set(double interval); |
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20 | bool kick(); |
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21 | |
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22 | protected: |
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23 | virtual void watch(); |
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24 | virtual void bark(); |
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25 | |
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26 | private: |
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27 | static void *watchDelegate(void *obj); |
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28 | }; |
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29 | |
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30 | #endif /* __SS_WATCHDOG_H */ |
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