virtual bool close()
{
if (control_thr)
{
control_thr->stop();
delete control_thr;
}
rpcPort.interrupt();
rpcPort.close();
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;
}
