OpenRTM-aist » OpenRTM-aist (C++)

--- OpenRTM-aist-r1971/src/lib/coil/posix/coil/Condition.h.orig 2010-06-24 09:22:51.000000000 +0900
+++ OpenRTM-aist-r1971/src/lib/coil/posix/coil/Condition.h      2013-02-22 09:26:12.108141163 +0900
@@ -20,6 +20,7 @@
 #ifndef COIL_CONDITION_H
 #define COIL_CONDITION_H

+#include <sys/time.h>
 #include <pthread.h>
 #include <algorithm>
 #include <ctime>
@@ -177,9 +178,16 @@
      */
     bool wait(long second, long nano_second = 0)
     {
+      struct timeval tv;
       timespec abstime;
-      abstime.tv_sec = std::time(0) + second;
-      abstime.tv_nsec = nano_second;
+
+      ::gettimeofday(&tv, NULL);
+      abstime.tv_sec  = tv.tv_sec + second;
+      abstime.tv_nsec = tv.tv_usec*1000 + nano_second;
+      if (abstime.tv_nsec >= 1000000000) {
+        abstime.tv_nsec -= 1000000000;
+        abstime.tv_sec ++;
+      }
       return 0 == ::pthread_cond_timedwait(&m_cond, &m_mutex.mutex_, &abstime);
     }