changes likely by FPK. Getting rid of IceUtil::Time

source/RobotAPI/components/RobotHealth/RobotHealthDummy.cpp

@@ -80,7 +80,7 @@ namespace armarx
     }
 
     void
-    RobotHealthDummy::busydwait(long microseconds)
+    RobotHealthDummy::busywait(long microseconds)
     {
         long start = TimeUtil::GetTime().toMicroSeconds();
         auto end = start + microseconds;
@@ -95,51 +95,60 @@ namespace armarx
     {
         auto args = RobotHealthHeartbeatArgs();
         args.identifier = getName();
+        armarx::core::time::toIce(args.maximumCycleTimeError, armarx::core::time::Duration::MilliSeconds(1000));
+        armarx::core::time::toIce(args.maximumCycleTimeWarning, armarx::core::time::Duration::MilliSeconds(500));
         robotHealthTopicPrx->signUp(args);
 
         ARMARX_INFO << "starting rinning task";
         while (!dummyTask->isStopped())
         {
-            long beforeTopicCall = TimeUtil::GetTime().toMicroSeconds();
+            auto beforeTopicCall = armarx::core::time::DateTime::Now();
             //ARMARX_INFO << "send heartbeat";
 
             armarx::core::time::dto::DateTime now;
             armarx::core::time::toIce(now, armarx::core::time::DateTime::Now());
             robotHealthTopicPrx->heartbeat(getName(), now);
-            long afterTopicCall = TimeUtil::GetTime().toMicroSeconds();
+            auto afterTopicCall = armarx::core::time::DateTime::Now();
+
             if (sleepmode == "nanosleep")
             {
-                NanoSleep(10 * 1000 * 1000);
+                NanoSleep(10 * 1000 * 1000); // wait 10 milliseconds
             }
             else if (sleepmode == "sleepwait")
             {
-                sleepwait(10 * 1000);
+                sleepwait(10 * 1000); // wait 10 milliseconds
             }
             else if (sleepmode == "yieldwait")
             {
-                yieldwait(10 * 1000);
+                yieldwait(10 * 1000); // wait 10 milliseconds
             }
             else if (sleepmode == "busywait")
             {
-                busydwait(10 * 1000);
+                busywait(10 * 1000); // wait 10 milliseconds
+            }
+            else if (sleepmode == "std::this_thread::sleep_for")
+            {
+                std::this_thread::sleep_for(std::chrono::microseconds(10 * 1000));
             }
             else
             {
                 throw LocalException("Unknown sleepmode.");
             }
 
-            long afterSleep = TimeUtil::GetTime().toMicroSeconds();
-            long topicCallDelay = afterTopicCall - beforeTopicCall;
-            long sleepDelay = afterSleep - afterTopicCall;
-            if (sleepDelay > 20000)
+            auto afterSleep = armarx::core::time::DateTime::Now();
+            auto topicCallDelay = afterTopicCall - beforeTopicCall;
+            auto sleepDelay = afterSleep - afterTopicCall;
+            if (sleepDelay.toMicroSeconds() > 20000)
             {
-                ARMARX_IMPORTANT << sleepmode << ": " << sleepDelay << "us";
+                ARMARX_IMPORTANT << sleepmode << " took long: " << sleepDelay << "us";
             }
-            if (topicCallDelay > 1000)
+            if (topicCallDelay.toMicroSeconds() > 1000)
             {
-                ARMARX_IMPORTANT << "topic: " << topicCallDelay << "us";
+                ARMARX_IMPORTANT << "topic took long: " << topicCallDelay << "us";
             }
         }
+
+        robotHealthTopicPrx->unregister(args.identifier);
     }
 
     void

source/RobotAPI/components/RobotHealth/RobotHealthDummy.h

@@ -78,7 +78,7 @@ namespace armarx
 
         int NanoSleep(long nanosec);
         void yieldwait(long microseconds);
-        void busydwait(long microseconds);
+        void busywait(long microseconds);
         void sleepwait(long microseconds);
 
     protected: