From 26a876fd7edaef822626638e0b6dc658d0d49df7 Mon Sep 17 00:00:00 2001
From: Joan Perez Ibarz <jperez@iri.upc.edu>
Date: Tue, 5 Apr 2011 17:22:27 +0000
Subject: [PATCH] - removing comments from algorithm base - deleting segway
base driver on closeDriver
---
include/iri_base_algorithm/iri_base_algorithm.h | 11 ++++++++++-
1 file changed, 10 insertions(+), 1 deletion(-)
diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index 5c0db1c..28986da 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -282,6 +282,8 @@ IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm() :
diagnostic_(),
dsrv_(private_node_handle_)
{
+ ROS_DEBUG("IRI Base Algorithm Constructor");
+
// create thread server instance
this->thread_server_ = CThreadServer::instance();
@@ -299,13 +301,14 @@ IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm() :
template <class Algorithm>
IriBaseAlgorithm<Algorithm>::~IriBaseAlgorithm()
{
+ ROS_DEBUG("IRI Base Algorithm Destructor");
+
this->thread_server_->kill_thread(this->main_thread_id_);
}
template <class Algorithm>
void IriBaseAlgorithm<Algorithm>::reconfigureCallback(Config &config, uint32_t level)
{
-// this->alg_.config_ = config;
this->alg_.config_update(config, level);
}
@@ -318,6 +321,8 @@ void IriBaseAlgorithm<Algorithm>::addDiagnostics(void)
template <class Algorithm>
void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
{
+ ROS_DEBUG("IRI Base Algorithm mainThread");
+
// retrieve base algorithm class
IriBaseAlgorithm *iriNode = (IriBaseAlgorithm *)param;
@@ -337,6 +342,8 @@ void *IriBaseAlgorithm<Algorithm>::mainThread(void *param)
template <class Algorithm>
int IriBaseAlgorithm<Algorithm>::spin(void)
{
+ ROS_DEBUG("IRI Base Algorithm spin");
+
// initialize diagnostics
this->diagnostic_.setHardwareID("none");
this->addDiagnostics();
@@ -383,6 +390,8 @@ int AbstractAlgorithmNode::ctrl_c_hit_count_ = 0;
template <class AlgImplTempl>
int main(int argc, char **argv, std::string node_name)
{
+ ROS_DEBUG("IRI Base Algorithm %s Launched", node_name.c_str());
+
// ROS initialization
ros::init(argc, argv, node_name);
--
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