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Revision ffaa3e81

IDffaa3e81940a5ae518571f1868af5fd9323a69ca
Parent c5901d9a
Child a885ec17

Added by Yuyang Guo about 11 years ago

Fixed GUI bug to kill all the processes related to behavior when killing scouts

View differences:

scout/scoutsim/GUI.py
133 133 
    def terminateOldBehavior(self):
134 134 
        if self.process != None:
135 135 
            # now terminate the process
136 
            self.process.terminate() #TODO: this kills the process
136 
            self.process.kill() #TODO: this kills the process
137 137 
                                     #      but maybe not the rosnode
138 138 
                                     #      change to "rosnode kill" instead
139 139 
            # make sure old behavior is terminated before we run the new one
......
142 142 
            # the following lines causes lag and does not solve real issues
143 143 
            # first unregister the node
144 144 
            cmd = "rosnode kill /%sBehavior"%self.name
145 
            temp = subprocess.Popen(cmd, shell=True)
145 
            temp = subprocess.Popen(shlex.split(cmd), shell=False)
146 146 
            temp.wait()
147 
            # this node loses contact but still is not cleaned up in rosnode
148 
            # however, this should not affect usage at all.
149 147
150 148 
    def changeBehavior(self, behavior):
151 149 
        self.behavior = behavior
......
185 183 
        # terminate its current behavior
186 184 
        self.terminateOldBehavior()
187 185
186 
        #terminate old behavior seems to not kill the processes related
187 
        # this brutally kill all the process related to the specific scout
188 
        cmd = "pkill -9 -f %s"%self.name
189 
        subprocess.Popen(shlex.split(cmd), shell=False)
190 

  		




  188
  191
  
    
        # ros call to kill scout in simulator


  		




  189
  192
  
    
        try:


  		




  190
  193
  
    
            rospy.wait_for_service("/kill")


  		












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