void threadRelease()
{
fprintf(stdout,"cleaning up \n");
port_in0.interrupt();
port_in0.close();
port_in1.interrupt();
port_in1.close();
port_in2.interrupt();
port_in2.close();
port_in3.interrupt();
port_in3.close();
port_in4.interrupt();
port_in4.close();
port_in5.interrupt();
port_in5.close();
port_in6.interrupt();
port_in6.close();
port_in7.interrupt();
port_in7.close();
port_in8.interrupt();
port_in8.close();
remove_cog("COG");
remove_cog("LL_COM");
remove_cog("LA_COM");
remove_cog("RL_COM");
remove_cog("RA_COM");
remove_cog("HD_COM");
remove_cog("UPP_COM");
remove_cog("LOW_COM");
port_out.interrupt();
port_out.close();
}
bool close()
{
yInfo("Stopping ppsAggregEventsForiCubGui module..");
mySkinContactList.clear();
yInfo("Closing ports..\n");
if (tactile)
{
aggregSkinEventsInPort.interrupt();
aggregSkinEventsInPort.close();
yInfo("aggregSkinEventsInPort successfully closed");
}
if (pps)
{
aggregPPSeventsInPort.interrupt();
aggregPPSeventsInPort.close();
yInfo("aggregPPSeventsInPort successfully closed");
}
//if (aggregEventsForiCubGuiPort.isOpen())
//{
aggregEventsForiCubGuiPort.interrupt();
aggregEventsForiCubGuiPort.close();
yInfo("aggregEventsForiCubGuiPort successfully closed");
//}
return true;
}
~WorkingThread()
{
port_command_out.interrupt();
port_command_out.close();
port_command_joints.interrupt();
port_command_joints.close();
}
bool close()
{
iPort.close();
oPort.close();
bPort.close();
return true;
}
bool close()
{
rpcPort.close();
iPort.close();
oPort.close();
return true;
}
virtual bool close()
{
portImgIn.close();
portImgOut.close();
cvReleaseImage(&_mapx);
cvReleaseImage(&_mapy);
return true;
};
/*
* Close function, to perform cleanup.
*/
bool close()
{
cout<<"Calling close function\n";
handlerPort.close();
gazeIn.interrupt();
gazeIn.close();
speechOut.close();
return true;
}
bool close()
{
imgInPort.close();
imgOutPort.close();
dataOutPort.close();
rpcPort.close();
return true;
}
bool close()
{
if (!portOut.isClosed())
portOut.close();
if (!portIn.isClosed())
portIn.close();
return true;
}
/*
* Close function, to perform cleanup.
*/
bool close()
{
cout<<"Calling close function\n";
handlerPort.close();
imageIn.interrupt();
imageIn.close();
imageOut.close();
targetPort.close();
return true;
}
bool close()
{
portDispIn.close();
portDispOut.close();
portOutPoints.close();
portImgIn.close();
portContour.close();
portSFM.close();
portRpc.close();
return true;
}
void sigproc(int sig){
signal(SIGINT, sigproc); /* */
/* NOTE some versions of UNIX will reset signal to default
after each call. So for portability reset signal each time */
cout << " * Exiting now!" << endl;
LocalAdminOutPort.close();
LocalAdminInPort.close();
Network::fini();
cout << "*******************************" << endl;
exit(0);
}
virtual void threadRelease()
{
if (I)
delete I;
qdPort.interrupt();
voPort.interrupt();
qoPort.interrupt();
qdPort.close();
voPort.close();
qoPort.close();
}
bool close()
{
// Close ports
rpcPort.close();
imInPort.close();
imOutPort.close();
tempOutPort.close();
coordsInPort.close();
trackInPort.close();
coordsOutPort.close();
return true;
}
bool interruptModule()
{
Network::unregisterContact(gtw_contactTactileLeftInputPort);
Network::unregisterContact(gtw_contactTactileRightInputPort);
Network::unregisterContact(gtw_contactTactileLeftOutputPort);
Network::unregisterContact(gtw_contactTactileRightOutputPort);
gtw_tactileLeftInputPort.close();
gtw_tactileRightInputPort.close();
gtw_tactileLeftOutputPort.close();
gtw_tactileRightOutputPort.close();
return true;
}
void sigproc(int sig) {
signal(SIGINT, sigproc); /* */
/* NOTE some versions of UNIX will reset signal to default
after each call. So for portability reset signal each time */
cout << " * Exiting now!" << endl;
toRessacPositionPort.close();
toRessacVelocityPort.close();
toRessacAttitudePort.close();
toTargetPositionPort.close();
toTargetVelocityPort.close();
Network::fini();
cout << "*******************************" << endl;
exit(0);
}
bool close()
{
igaze->restoreContext(startup_context_gaze);
drvGaze.close();
iarm->restoreContext(startup_context_arm);
drvArm.close();
imgLPortIn.close();
imgRPortIn.close();
imgLPortOut.close();
imgRPortOut.close();
rpcPort.close();
return true;
}
/*
* Close function, to perform cleanup.
*/
bool close()
{
vergencePort.close();
handlerPort.close();
suspendPort.close();
return true;
}
bool close()
{
// Terminate model
Controller_terminate(Controller_M);
imod->setControlMode(joint,VOCAB_CM_POSITION);
if (compliant)
iint->setInteractionMode(joint,VOCAB_IM_STIFF);
rpc.close();
dataOut.close();
dataIn.close();
drv.close();
return true;
}
bool acquirePoints(int &file_provided, ResourceFinder &rf)
{
if(file_provided==1)
{
if (!rf.check("pointCloudFile"))
{
yError()<<"point clouds file not provided!";
return false;
}
pointCloudFileName=rf.find("pointCloudFile"). asString().c_str();
ifstream pointCloudFile(pointCloudFileName.c_str());
if (!pointCloudFile.is_open())
{
yError()<<"problem opening point clouds file!";
pointCloudFile.close();
return false;
}
if (!readPoints(pointCloudFile))
{
yError()<<"problem reading point clouds file!";
pointCloudFile.close();
return false;
}
pointCloudFile.close();
}
else
{
cout<<"point_cloud is reading from port..."<<endl;
Bottle *pointIn=portInPoints.read(true);
if (pointIn!=NULL)
{
int bsize=pointIn->size();
cout<<"size of bottle received: "<<bsize<<endl;
for(size_t i=0; i<bsize; i++)
{
Bottle *pointList=pointIn->get(i).asList();
point[0]=pointList->get(0).asDouble();
point[1]=pointList->get(1).asDouble();
point[2]=pointList->get(2).asDouble();
point_cloud.push_back(point);
cout<<"point received "<<point.toString().c_str()<<endl;
nPointsC++;
}
cout<<"points acquired " << nPointsC<<endl;
return true;
}
portInPoints.close();
}
}
virtual void threadRelease(){
armPlan->interrupt(); armPred->interrupt();
armPlan->close(); armPred->close();
delete armPlan; delete armPred;
armLocJ->interrupt(); headLoc->interrupt();
armLocJ->close(); headLoc->close();
delete armLocJ; delete headLoc;
gsl_rng_free(r);
//delete r;
//clientGazeCtrl->close();
//robotDevice->close();
//delete igaze;
//delete pos;
//delete enc;
//delete command;
//delete tmp;
}
bool close()
{
// order does matter!
imageInPort.close();
coordPort.close();
imageOutPort.close();
return true;
}
bool close()
{
// Close ports
inVec.close();
printf("inVec closed\n");
pred.close();
printf("pred closed\n");
perf.close();
printf("perf closed\n");
rpcPort.close();
printf("rpcPort closed\n");
return true;
}
bool close() {
if (action != NULL)
delete action;
inPort.close();
rpcPort.close();
return true;
}
bool close() {
port.close();
mutex.wait(); // onRead never gets called again once it finishes
//free the memory that's been mapped to write the audio data
munmap(mappedAudioData,kMappedFileSize_samples*sizeof(short));
return true;
}
void terminate()
{
imgInPort.close();
imgOutPort.close();
dataInPort.close(); // close prior to shutting down motor-interfaces
logPort.close();
rpcPort.close();
if (drvArmL.isValid())
drvArmL.close();
if (drvArmR.isValid())
drvArmR.close();
if (drvGaze.isValid())
drvGaze.close();
}
JNIEXPORT jboolean JNICALL Java_com_alecive_yarpdroid_yarpviewFragment_destroyBufferedImgPortL
(JNIEnv *env, jobject obj)
{
__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, "I'm destroying the image port");
BufferedPort<ImageOf<PixelRgb> > *ImgPortL = getHandle<BufferedPort<ImageOf<PixelRgb> > >(env, javaObj, "viewLeftHandle");
ImgPortL->close();
delete ImgPortL;
ImgPortL = 0;
return (jboolean)true;
}
bool close()
{
rpcPort.interrupt();
rpcPort.close();
dumpPort.interrupt();
dumpPort.close();
opc.interrupt();
opc.close();
return true;
}
void terminate()
{
if (!imgInPort.isClosed())
imgInPort.close();
if (!imgOutPort.isClosed())
imgOutPort.close();
if (drvGaze.isValid())
drvGaze.close();
if (drvCart.isValid())
drvCart.close();
if (drvArm.isValid())
drvArm.close();
if (drvAnalog.isValid())
drvAnalog.close();
}
bool close()
{
if(meas_given!=1)
{
portIn.close();
rpcOut.close();
}
rpcPort.close();
return true;
}