Added watchdog

wesley/ros/src/commander/src/main.cpp

@@ -2,7 +2,9 @@
 #include "exit_handlers.h"
 #include <string>
 #include <unistd.h>
-
+#include <signal.h>
+#include <watchdog.h>
+//#include <thread.h> Include if using watchdog
 using std::string;
 
 #define grasp() executeBinary("rostopic pub -1 /arm/put/point wesley/arm_point '{direct_mode: false, cmd: grasp}'", "");
@@ -116,6 +118,11 @@ int executeBinary(string binaryName, string prefix, string mode ){
 	if(f == 0){
 		return -2;
 	}
+	/**
+	 * Uncomment this to turn on watchdogging 
+	//WatchDog watch;
+	//std::thread(watch,binaryName);
+	*/
 	//Get return value, don't ask why it's this but it is. It's from the stack overflow on popen. 
 	//
 	// http://bytes.com/topic/c/answers/131694-pclose-returning-termination-status-command#post472837
@@ -126,3 +133,5 @@ int executeBinary(string binaryName, string prefix, string mode ){
 	//    man 2 waitpid) did not shed any extra light on this.
 	return pclose(f)/256;
 }
+
+

wesley/ros/src/commander/src/watchdog.cpp

@@ -0,0 +1,28 @@
+#include "watchdog.h"
+#include <unistd.h>
+#include <stdio.h>
+#include <sstream>
+#include <thread>
+#include <chrono>
+using std::stringstream;
+
+void WatchDog::execute_pkill(string name){
+	stringstream ss;
+	ss << "pkill " << name;
+	FILE * f = popen(ss.str().c_str(),"r");
+	pclose(f);
+}
+
+void WatchDog::tick(){
+	amountCalled++;
+}
+
+void WatchDog::operator()(string binaryName){
+	amountCalled = 0;
+	while(amountCalled < checkAmount){
+		tick();
+		std::this_thread::sleep_for(std::chrono::seconds(seconds_to_sleep));
+	}
+	execute_pkill(binaryName);
+}
+

wesley/ros/src/commander/src/watchdog.h

@@ -0,0 +1,33 @@
+#include <string>
+#include <unistd.h>
+#include <signal.h>
+#include <thread>
+#include <map>
+#include <stdio.h>
+using std::map;
+using std::string;
+
+#ifndef WATCHDOG_H
+#define WATCHDOG_H
+/**
+ * Watch dog is a functor object that should be called as such
+ * WatchDog watch; 
+ * std::thread(watch,binaryName);
+ */
+class WatchDog{
+	string name;
+	int amountCalled;
+	int checkAmount; /*<The time in near-seconds for the thread to be alive before it's killed */
+	const int seconds_to_sleep = 1;
+	//Tick through each process updating the amount of times it's been called in call_map and kills it if it's been checked checkAmount times
+	void tick();
+	void execute_pkill(string name);	
+
+public:
+	WatchDog(){checkAmount=1000;}
+	WatchDog(int amountOfTicksBeforeKilled){checkAmount=amountOfTicksBeforeKilled;}
+	void operator()(string binaryName);
+
+};
+#endif
+