From 69a43ad60dd58fcc168e0a9abb253afefcdb3419 Mon Sep 17 00:00:00 2001
From: Joan Perez Ibarz <jperez@iri.upc.edu>
Date: Wed, 31 Aug 2011 14:29:07 +0000
Subject: [PATCH] [joystick_core] - moving joy.msg from joy to sensor_msgs
[segway_rmp_200]
[segway_rmp_200_node]
- removing open function from constructor
---
src/examples/test_segwayRMP200.cpp | 15 +++++++-----
src/segway_rmp200.cpp | 39 +++++++-----------------------
2 files changed, 18 insertions(+), 36 deletions(-)
diff --git a/src/examples/test_segwayRMP200.cpp b/src/examples/test_segwayRMP200.cpp
index 13ba9d3..a4090fb 100755
--- a/src/examples/test_segwayRMP200.cpp
+++ b/src/examples/test_segwayRMP200.cpp
@@ -54,19 +54,22 @@ int main(int argc, char *argv[])
try
{
+ segway = new CSegwayRMP200();
+
while(!connected)
{
try
{
- segway = new CSegwayRMP200();
+ segway->connect();
connected = true;
}
catch(CException &e)
{
- if(segway != NULL)
- delete segway;
-
- segway = NULL;
+ segway->close();
+// if(segway != NULL)
+// delete segway;
+//
+// segway = NULL;
std::cout << e.what() << std::endl;
std::cout << "The segway platfrom is still not ready (is it power on?)" << std::endl << std::endl;
@@ -134,7 +137,7 @@ int main(int argc, char *argv[])
}
}
segway->stop();
-// segway->close();
+ segway->close();
delete segway;
}
catch(CException &e)
diff --git a/src/segway_rmp200.cpp b/src/segway_rmp200.cpp
index cb9a3ec..1b34333 100755
--- a/src/segway_rmp200.cpp
+++ b/src/segway_rmp200.cpp
@@ -14,7 +14,6 @@ CSegwayRMP200::CSegwayRMP200(const std::string& desc_serial)
init_ftdi();
init_threads();
init_events();
- connect(desc_serial);
}
void CSegwayRMP200::init_attributes(void)
@@ -868,13 +867,14 @@ void CSegwayRMP200::close()
//kill threads
if(this->comm_dev!=NULL)
{
- // finish the threads
+ // finish threads
this->event_server->set_event(this->read_finish_event);
this->event_server->set_event(this->command_finish_event);
this->thread_server->end_thread(this->read_thread_id);
this->thread_server->end_thread(this->command_thread_id);
this->thread_server->kill_thread(this->heartbeat_thread_id);
- /* reset the events if necessary */
+
+ // reset the events if necessary
this->event_server->reset_event(this->read_finish_event);
this->event_server->reset_event(this->command_finish_event);
if(this->event_server->event_is_set(this->no_heartbeat_event))
@@ -887,7 +887,13 @@ void CSegwayRMP200::close()
delete this->comm_dev;
this->comm_dev=NULL;
}
+}
+CSegwayRMP200::~CSegwayRMP200()
+{
+ this->close();
+
+ // destroy events
this->event_server->delete_event(this->read_finish_event);
this->read_finish_event="";
this->event_server->delete_event(this->command_finish_event);
@@ -912,33 +918,6 @@ void CSegwayRMP200::close()
this->heartbeat_thread_id="";
}
-CSegwayRMP200::~CSegwayRMP200()
-{
- this->close();
- /* destroy the events */
-// this->event_server->delete_event(this->read_finish_event);
-// this->read_finish_event="";
-// this->event_server->delete_event(this->command_finish_event);
-// this->command_finish_event="";
-// this->event_server->delete_event(this->cable_disconnected_event);
-// this->cable_disconnected_event="";
-// this->event_server->delete_event(this->power_off_event);
-// this->power_off_event="";
-// this->event_server->delete_event(this->no_heartbeat_event);
-// this->no_heartbeat_event="";
-// this->event_server->delete_event(this->heartbeat_event);
-// this->heartbeat_event="";
-// this->event_server->delete_event(this->new_status_event);
-// this->new_status_event="";
-// // destroy the threads
-// this->thread_server->delete_thread(this->read_thread_id);
-// this->read_thread_id="";
-// this->thread_server->delete_thread(this->command_thread_id);
-// this->command_thread_id="";
-// this->thread_server->delete_thread(this->heartbeat_thread_id);
-// this->heartbeat_thread_id="";
-}
-
std::ostream& operator<< (std::ostream& out, CSegwayRMP200& segway)
{
segway.access_status.enter();
--
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