void run(void)
{
try
{
if(!getExcept()) taskMain();
}
catch(const std::exception &e)
{
QMutexLocker lock(&s_mutex);
if(!s_bExcept)
{
s_bExcept = true;
strncpy_s(s_errMsg, BUFF_SIZE, e.what(), _TRUNCATE);
}
lock.unlock();
qWarning("OptionalInitTask exception error:\n%s\n\n", e.what());
}
catch(...)
{
QMutexLocker lock(&s_mutex);
if(!s_bExcept)
{
s_bExcept = true;
strncpy_s(s_errMsg, BUFF_SIZE, "Unknown exception error!", _TRUNCATE);
}
lock.unlock();
qWarning("OptionalInitTask encountered an unknown exception!");
}
}
// Main function of the task
int SimpleTask::Main(int a2, int a3, int a4, int a5,
int a6, int a7, int a8, int a9, int a10)
{
if(taskMain == NULL) {
return(0);
}
// Let the world know we're in
DPRINTF(LOG_DEBUG,"SimpleTask started: %s\n", taskName.c_str());
// Wait for Robot go-ahead (e.g. entering Autonomous or Tele-operated mode)
WaitForGoAhead();
// Register our logger
lHandle = Robot::getInstance();
// Call the "main" function
while(!taskMain(proxy,lHandle)) {
WaitForNextLoop();
}
return (0);
};
