YARP_dev: move the logic of the timeout check from `RemoteControlBoar…

…d` to the `stateExtendedReader`.

In this way every read has a timeout check that before was only in few functions
like `getEncoders`. It fixes robotology#1833

src/libYARP_dev/src/devices/RemoteControlBoard/RemoteControlBoard.cpp

@@ -49,7 +49,6 @@ namespace yarp{
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
 
 const double DIAGNOSTIC_THREAD_PERIOD=1.000;
-const double TIMEOUT=0.5;
 
 inline bool getTimeStamp(Bottle &bot, Stamp &st)
 {
@@ -1478,10 +1477,6 @@ class yarp::dev::RemoteControlBoard :
         extendedPortMutex.lock();
         bool ret = extendedIntputStatePort.getLastSingle(j, VOCAB_ENCODER, v, lastStamp, localArrivalTime);
         extendedPortMutex.unlock();
-
-        if (ret && ( (Time::now()-localArrivalTime) > TIMEOUT) )
-            ret = false;
-
         return ret;
     }
 
@@ -1499,10 +1494,6 @@ class yarp::dev::RemoteControlBoard :
         bool ret = extendedIntputStatePort.getLastSingle(j, VOCAB_ENCODER, v, lastStamp, localArrivalTime);
         *t=lastStamp.getTime();
         extendedPortMutex.unlock();
-
-        if (ret && ( (Time::now()-localArrivalTime) > TIMEOUT) )
-            ret = false;
-
         return ret;
     }
 
@@ -1538,10 +1529,6 @@ class yarp::dev::RemoteControlBoard :
         bool ret = extendedIntputStatePort.getLastVector(VOCAB_ENCODERS, encs, lastStamp, localArrivalTime);
         std::fill_n(ts, nj, lastStamp.getTime());
         extendedPortMutex.unlock();
-
-        if ( (Time::now()-localArrivalTime) > TIMEOUT)
-            ret=false;
-
         return ret;
     }
     /**
@@ -1750,10 +1737,6 @@ class yarp::dev::RemoteControlBoard :
         extendedPortMutex.lock();
         bool ret = extendedIntputStatePort.getLastSingle(j, VOCAB_MOTOR_ENCODER, v, lastStamp, localArrivalTime);
         extendedPortMutex.unlock();
-
-        if(ret && ((Time::now()-localArrivalTime) > TIMEOUT) )
-            ret=false;
-
         return ret;
     }
 
@@ -1771,10 +1754,6 @@ class yarp::dev::RemoteControlBoard :
         bool ret = extendedIntputStatePort.getLastSingle(j, VOCAB_MOTOR_ENCODER, v, lastStamp, localArrivalTime);
         *t=lastStamp.getTime();
         extendedPortMutex.unlock();
-
-        if(ret && ((Time::now()-localArrivalTime) > TIMEOUT) )
-            ret=false;
-
         return ret;
     }
 
@@ -1812,10 +1791,6 @@ class yarp::dev::RemoteControlBoard :
         bool ret = extendedIntputStatePort.getLastVector(VOCAB_MOTOR_ENCODERS, encs, lastStamp, localArrivalTime);
         std::fill_n(ts, nj, lastStamp.getTime());
         extendedPortMutex.unlock();
-
-        if(ret && ((Time::now()-localArrivalTime) > TIMEOUT) )
-            ret=false;
-
         return ret;
     }
     /**

src/libYARP_dev/src/devices/RemoteControlBoard/stateExtendedReader.cpp

@@ -151,6 +151,8 @@ bool StateExtendedInputPort::getLastSingle(int j, int field, double *data, Stamp
 
         localArrivalTime=now;
         stamp = lastStamp;
+        if (ret && ( (Time::now()-localArrivalTime) > TIMEOUT_EXT) )
+            ret = false;
     }
     mutex.unlock();
 
@@ -181,6 +183,9 @@ bool StateExtendedInputPort::getLastSingle(int j, int field, int *data, Stamp &s
         }
         localArrivalTime=now;
         stamp = lastStamp;
+        if (ret && ( (Time::now()-localArrivalTime) > TIMEOUT_EXT) )
+            ret = false;
+
     }
     mutex.unlock();
     return ret;
@@ -246,6 +251,8 @@ bool StateExtendedInputPort::getLastVector(int field, double* data, Stamp& stamp
 
         localArrivalTime=now;
         stamp = lastStamp;
+        if (ret && ( (Time::now()-localArrivalTime) > TIMEOUT_EXT) )
+            ret = false;
     }
     mutex.unlock();
 
@@ -276,6 +283,8 @@ bool StateExtendedInputPort::getLastVector(int field, int* data, Stamp& stamp, d
         }
         localArrivalTime=now;
         stamp = lastStamp;
+        if (ret && ( (Time::now()-localArrivalTime) > TIMEOUT_EXT) )
+            ret = false;
     }
     mutex.unlock();
     return ret;