Revision 508
position updating in separate thread. incomplete SIGINT handler
| PositionMonitor.cpp | ||
|---|---|---|
| 22 | 22 |
//TODO: check for error returned from init |
| 23 | 23 |
vision_init("/var/www/colonet.jpg");
|
| 24 | 24 |
newIdToAssign = -1; |
| 25 |
|
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| 26 |
pthread_mutex_init(&position_map_lock, NULL); |
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| 25 | 27 |
} |
| 26 | 28 |
|
| 27 | 29 |
PositionMonitor::~PositionMonitor() {
|
| 28 | 30 |
} |
| 29 | 31 |
|
| 30 |
int PositionMonitor::startMonitoring() {
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| 31 |
//TODO: fill this in when this becomes asynchronous |
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| 32 |
return 0; |
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| 32 |
void PositionMonitor::run() {
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| 33 |
while (1) {
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| 34 |
updatePositions(); |
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| 35 |
usleep(500000); |
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| 36 |
} |
|
| 33 | 37 |
} |
| 34 | 38 |
|
| 35 | 39 |
int PositionMonitor::stopMonitoring() {
|
| ... | ... | |
| 107 | 111 |
} |
| 108 | 112 |
|
| 109 | 113 |
map<int, VisionPosition> PositionMonitor::getAllRobotPositions() {
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| 110 |
//TODO do this in another thread! |
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updatePositions(); |
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| 112 |
|
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| 113 | 114 |
return positionMap; |
| 114 | 115 |
} |
| 115 | 116 |
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