/**
* Terminates module execution and performs cleanup
* @return this method cannot fail, so it always returns true
*/
virtual bool close()
{
if (m_ptf.isValid())
{
m_ptf.close();
}
if (m_pmap.isValid())
{
m_pmap.close();
}
if (m_rosPublisher_occupancyGrid.asPort().isOpen())
{
m_rosPublisher_occupancyGrid.interrupt();
m_rosPublisher_occupancyGrid.close();
}
if (m_rosPublisher_initial_pose.asPort().isOpen())
{
m_rosPublisher_initial_pose.interrupt();
m_rosPublisher_initial_pose.close();
}
if (m_rosNode)
{
delete m_rosNode;
m_rosNode = 0;
}
m_rpcPort.interrupt();
m_rpcPort.close();
return true;
}
virtual bool close()
{
mHandlerPort.interrupt();
mHandlerPort.close();
//mNavThread->shutdown();
mNavThread->stop();
delete mNavThread;
mNavThread=NULL;
return true;
}
virtual bool close()
{
rpcPort.interrupt();
rpcPort.close();
//gotoThread->shutdown();
gotoThread->stop();
delete gotoThread;
gotoThread=NULL;
return true;
}
/**
* Interrupts ports operations
* @return this method cannot fail, so it always returns true
*/
virtual bool interruptModule()
{
m_rpcPort.interrupt();
return true;
}
virtual bool interruptModule()
{
mHandlerPort.interrupt();
return true;
}