[Gearbox-commit] SF.net SVN: gearbox: [145] gearbox/trunk/src/gbxsickacfr/ gbxserialdeviceacfr/serialdevicehandler.cpp

[<bo...@us...>]

Revision: 145
          http://gearbox.svn.sourceforge.net/gearbox/?rev=145&view=rev
Author:   borax00
Date:     2008-05-31 20:14:13 -0700 (Sat, 31 May 2008)

Log Message:
-----------
fixed timeout issue.

Modified Paths:
--------------
    gearbox/trunk/src/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.cpp

Modified: gearbox/trunk/src/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.cpp
===================================================================
--- gearbox/trunk/src/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.cpp	2008-06-01 02:53:57 UTC (rev 144)
+++ gearbox/trunk/src/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.cpp	2008-06-01 03:14:13 UTC (rev 145)
@@ -88,8 +88,8 @@
 void
 SerialDeviceHandler::walk()
 {
-    // TODO: this max heartbeat interval should reflect the actual timeout of the serial device.
-    subStatus_.setMaxHeartbeatInterval( 2 );
+    double maxIntervalSec = serial_.timeout().sec + 1e6*serial_.timeout().usec;
+    subStatus_.setMaxHeartbeatInterval( maxIntervalSec * 5.0 );
 
     while ( !isStopping() )
     {


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