From 86bea5c9dbbbf41f6cf8d0d5242d7aa2851dc43e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Wed, 20 May 2015 14:37:16 +0000
Subject: [PATCH] Added some exception handling that was missing.
---
src/dynamixel_motor.cpp | 10 +++++++---
src/dynamixel_motor_group.cpp | 17 +++++++++++------
2 files changed, 18 insertions(+), 9 deletions(-)
diff --git a/src/dynamixel_motor.cpp b/src/dynamixel_motor.cpp
index 662ca88..974c13a 100644
--- a/src/dynamixel_motor.cpp
+++ b/src/dynamixel_motor.cpp
@@ -1468,9 +1468,13 @@ control_mode CDynamixelMotor::get_control_mode(void)
CDynamixelMotor::~CDynamixelMotor()
{
/* stop the motor */
- this->stop();
- /* disable the motor */
- this->disable();
+ try{
+ this->stop();
+ /* disable the motor */
+ this->disable();
+ }catch(CException &e){
+ /* do nothing */
+ }
if(this->dynamixel_dev!=NULL)
{
this->dyn_server->free_device(this->dynamixel_dev->get_id());
diff --git a/src/dynamixel_motor_group.cpp b/src/dynamixel_motor_group.cpp
index 276cc36..f612e3d 100644
--- a/src/dynamixel_motor_group.cpp
+++ b/src/dynamixel_motor_group.cpp
@@ -992,6 +992,7 @@ TDynamixelGroup_config CDynamixelMotorGroup::read_config(std::string &filename)
std::auto_ptr<dyn_motor_group_config_t> cfg(dyn_motor_group_config(filename.c_str(), xml_schema::flags::dont_validate));
config.bus_id=cfg->bus_id();
config.baudrate=cfg->baudrate();
+ config.id.resize(cfg->dyn_motor_config().size());
config.dyn_config.resize(cfg->dyn_motor_config().size());
config.pid_control.resize(cfg->dyn_motor_config().size());
config.compliance_control.resize(cfg->dyn_motor_config().size());
@@ -999,7 +1000,7 @@ TDynamixelGroup_config CDynamixelMotorGroup::read_config(std::string &filename)
path=filename.substr(0,found+1);
for(iterator=cfg->dyn_motor_config().begin(),i=0;iterator!=cfg->dyn_motor_config().end();iterator++,i++)
{
- config.bus_id[i]=iterator->id();
+ config.id[i]=iterator->id();
full_path=path+iterator->config_file();
CDynamixelMotor::read_config(full_path,config.dyn_config[i],config.compliance_control[i],config.pid_control[i]);
}
@@ -1947,10 +1948,15 @@ double CDynamixelMotorGroup::get_sequence_completed_percentage(void)
CDynamixelMotorGroup::~CDynamixelMotorGroup()
{
/* stop the motor */
- this->stop();
- /* stop any active sequence */
- if(!this->event_server->event_is_set(this->sequence_complete_event_id))
- this->stop_sequence();
+ try{
+ this->stop();
+ /* stop any active sequence */
+ if(!this->event_server->event_is_set(this->sequence_complete_event_id))
+ this->stop_sequence();
+ this->disable();
+ }catch(CException &e){
+ /* do nothing */
+ }
/* stop the internal trhead */
this->event_server->set_event(this->finish_thread_event_id);
this->thread_server->end_thread(this->sequence_thread_id);
@@ -1972,6 +1978,5 @@ CDynamixelMotorGroup::~CDynamixelMotorGroup()
this->sequence_complete_event_id="";
this->event_server->delete_event(this->sequence_error_event_id);
this->sequence_error_event_id="";
- this->disable();
this->clear();
}
--
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