From a3983dcc28778a1597204def03a0a1ae2070cb6f Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 29 Aug 2022 09:07:34 +0200
Subject: [PATCH] Added an abstract function that is called at each iteration
of the main thread loop (user_loop).
---
include/iri_base_bt_client/iri_base_bt_client.h | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/include/iri_base_bt_client/iri_base_bt_client.h b/include/iri_base_bt_client/iri_base_bt_client.h
index 4b6082d..7bf61ad 100644
--- a/include/iri_base_bt_client/iri_base_bt_client.h
+++ b/include/iri_base_bt_client/iri_base_bt_client.h
@@ -378,6 +378,12 @@ class IriBaseBTClient
*
*/
static void hupCalled(int sig);
+
+ /**
+ * \brief
+ *
+ */
+ virtual void user_loop(void) = 0;
};
@@ -693,6 +699,7 @@ void *IriBaseBTClient<ConfigClass>::mainThread(void *param)
{
try
{
+ iriNode->user_loop();
iriNode->status=iriNode->tree.tickRoot();
ROS_DEBUG_STREAM("Tree status: " << iriNode->status);
}
--
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