void KeyboardControl::run(){
if (init()){
twist_pub_ = nh_.advertise<geometry_msgs::Twist>("/cmd_vel", 10);
twist_pub_timer_ = nh_.createTimer(ros::Duration(1.0/rate_), &KeyboardControl::twistCallback, this);
boost::thread parse_thread(boost::bind(&KeyboardControl::parseKeyboard, this));
ros::spin();
}
}
void console::ted_cmd::getCommand(wxCommandEvent& WXUNUSED(event)) {
if (puc) getGUInput(); // run the local GUInput parser
else {
wxString command = GetValue();
tell_log(MT_COMMAND, command);
_cmd_history.push_back(std::string(command.mb_str()));
_history_position = _cmd_history.end();
Clear();
parse_thread *pthrd = DEBUG_NEW parse_thread(command,_parent,_canvas);
pthrd->Create();
pthrd->Run();
}
}
inline bool PBFParser::Parse()
{
// Start the read and parse threads
std::thread read_thread(std::bind(&PBFParser::ReadData, this));
// Open several parse threads that are synchronized before call to
std::thread parse_thread(std::bind(&PBFParser::ParseData, this));
// Wait for the threads to finish
read_thread.join();
parse_thread.join();
return true;
}
void UWBDriver::run(){
ros::NodeHandle node;
ros::NodeHandle private_node("~");
private_node.param<std::string>("port_name", port_name_, std::string("/dev/ttyUSB0"));
private_node.param<std::string>("base_frame", base_frame_, std::string("base_link"));
private_node.param<int>("baud_rate", baud_rate_, 115200);
private_node.param<int>("sensor_rate", sensor_rate_, 10);
if (init()){
// ros::Timer handle_dist_timer = node.createTimer(ros::Duration(100.0/sensor_rate_), &UWBDriver::handle_dist_msg, this);
boost::thread parse_thread(boost::bind(&UWBDriver::receive_msg, this));
ros::spin();
return;
}
}
void console::ted_cmd::getCommandA() {
if (puc) getGUInput(); // run the local GUInput parser
else {
wxString command = GetValue();
tell_log(MT_COMMAND, command);
_cmd_history.push_back(std::string(command.mb_str()));
_history_position = _cmd_history.end();
Clear();
if (!_thread)
{ // executing the parser without thread
// essentially the same code as in parse_thread::Entry, but
// without the mutexes
telllloc.first_column = telllloc.first_line = 1;
telllloc.last_column = telllloc.last_line = 1;
telllloc.filename = NULL;
void* b = tell_scan_string( command.mb_str() );
tellparse();
my_delete_yy_buffer( b );
}
else
{
// executing the parser in a separate thread
//wxTHREAD_JOINABLE, wxTHREAD_DETACHED
parse_thread *pthrd = DEBUG_NEW parse_thread(command,_parent,_canvas);
wxThreadError result = pthrd->Create();
if (wxTHREAD_NO_ERROR == result)
pthrd->Run();
else
{
tell_log( MT_ERROR, "Can't execute the command in a separate thread");
delete(pthrd);
}
// if (_wait) pthrd->Wait();
}
}
}
