From 1f8cffdbbb4068e1d810ac32b57b8c3e62431e18 Mon Sep 17 00:00:00 2001
From: Johannes Meyer <johannes@intermodalics.eu>
Date: Thu, 8 Sep 2016 11:30:12 +0200
Subject: [PATCH 1/2] Added operations sleep, usleep, nanosleep and execute to
 the os service

Signed-off-by: Johannes Meyer <johannes@intermodalics.eu>
---
 ocl/OSService.cpp | 57 ++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 56 insertions(+), 1 deletion(-)

diff --git a/ocl/OSService.cpp b/ocl/OSService.cpp
index 31c971eb..4a2f2186 100644
--- a/ocl/OSService.cpp
+++ b/ocl/OSService.cpp
@@ -1,8 +1,11 @@
-
+#include <rtt/os/fosi.h>
 #include <rtt/Service.hpp>
 #include <rtt/plugin/ServicePlugin.hpp>
 #include <cstdlib>
 
+#ifndef WIN32
+#include <sys/wait.h>
+#endif
 
 // setEnvString and isEnv needed to be implemented because we
 // can't provide a getenv() implementation on windows without leaking
@@ -80,6 +83,14 @@ namespace OCL
                             "The name of the environment variable to write.").arg("value","The text to set.");
             addOperation("argc", &OSService::argc, this).doc("Returns the number of arguments, given to this application.");
             addOperation("argv", &OSService::argv, this).doc("Returns the arguments as a sequence of strings, given to this application.");
+            addOperation("sleep", &OSService::sleep, this).doc("Suspend execution of the calling thread")
+                    .arg("seconds", "Sleep for x seconds");
+            addOperation("usleep", &OSService::usleep, this).doc("Suspend execution of the calling thread")
+                    .arg("microseconds", "Sleep for x microseconds");
+            addOperation("nanosleep", &OSService::nanosleep, this).doc("Suspend execution of the calling thread")
+                    .arg("seconds", "Sleep for x seconds")
+                    .arg("nanoseconds", "Sleep for x nanoseconds");
+            addOperation("execute", &OSService::execute, this).doc("Execute a shell command");
         }
 
         int argc(void)
@@ -101,14 +112,58 @@ namespace OCL
         {
             return getEnvString(arg.c_str());
         }
+
         bool isenv(const std::string& arg)
         {
             return isEnv(arg.c_str());
         }
+
         bool setenv(const std::string& arg, const std::string& value)
         {
             return ::setenv(arg.c_str(), value.c_str(), 1) == 0;
         }
+
+        int sleep(unsigned int seconds)
+        {
+            TIME_SPEC rqtp, rmtp;
+            rqtp.tv_sec = seconds;
+            rqtp.tv_nsec = 0;
+            return rtos_nanosleep(&rqtp, &rmtp);
+        }
+
+        int usleep(unsigned int microseconds)
+        {
+            TIME_SPEC rqtp, rmtp;
+            rqtp.tv_sec  = (microseconds / 1000000u);
+            rqtp.tv_nsec = (microseconds % 1000000u) * 1000u;
+            return rtos_nanosleep(&rqtp, &rmtp);
+        }
+
+        int nanosleep(unsigned int seconds, unsigned int nanoseconds)
+        {
+            TIME_SPEC rqtp, rmtp;
+            rqtp.tv_sec = seconds;
+            rqtp.tv_nsec = nanoseconds;
+            return rtos_nanosleep(&rqtp, &rmtp);
+        }
+
+        int execute(const std::string& command)
+        {
+#ifdef WIN32
+            return system(command.c_str());
+#else
+            int status = system(command.c_str());
+            if (status < 0) {
+                return status;
+            } else {
+                if (!WIFEXITED(status)) {
+                    return -1;
+                } else {
+                    return WEXITSTATUS(status);
+                }
+            }
+#endif
+        }
     };
 }
 

From 0eaa53c96f62841fc9ddcf38a71fbbc44c5d65bc Mon Sep 17 00:00:00 2001
From: Ruben Smits <ruben.smits@intermodalics.eu>
Date: Thu, 2 Feb 2017 11:29:19 +0100
Subject: [PATCH 2/2] Use orocos macro for helloworld executable

Signed-off-by: Ruben Smits <ruben.smits@intermodalics.eu>
---
 helloworld/CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/helloworld/CMakeLists.txt b/helloworld/CMakeLists.txt
index edac4078..dce334a8 100644
--- a/helloworld/CMakeLists.txt
+++ b/helloworld/CMakeLists.txt
@@ -6,7 +6,7 @@ IF ( BUILD_HELLOWORLD )
     FILE( GLOB SRCS [^.]*.cpp )
     FILE( GLOB HPPS [^.]*.hpp )
 
-    ADD_EXECUTABLE( helloworld ${SRCS} )
+    orocos_executable( helloworld ${SRCS} )
     orocos_component( orocos-ocl-helloworld ${SRCS} )
     SET_TARGET_PROPERTIES( orocos-ocl-helloworld PROPERTIES
       SOVERSION ${OCL_SOVERSION}