virtual bool updateModule() { if (control_thr) { Odometry* pOdometry=0; control_thr->printStats(); control_thr->get_motor_handler()->updateControlMode(); pOdometry = control_thr->get_odometry_handler(); if (pOdometry) pOdometry->printStats(); control_thr->get_motor_handler()->printStats(); control_thr->get_input_handler()->printStats(); } else { yDebug("* Motor thread:not running"); } static int life_counter=0; yInfo( "* Life: %d\n\n", life_counter); life_counter++; return true; }
virtual bool updateModule() { if (control_thr) { control_thr->printStats(); int status = control_thr->get_status(); if (status < 0) { yError() << "Fatal error, closing"; control_thr->stop(); return false; } } else { yDebug("* Motor thread:not running"); } static int life_counter=0; yDebug( "* Life: %d\n", life_counter); life_counter++; return true; }