bool interruptModule()
{
iPort.interrupt();
oPort.interrupt();
bPort.interrupt();
return true;
}
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;
}
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();
}
~WorkingThread()
{
port_command_out.interrupt();
port_command_out.close();
port_command_joints.interrupt();
port_command_joints.close();
}
bool interruptModule()
{
imgLPortIn.interrupt();
imgRPortIn.interrupt();
igaze->stopControl();
iarm->stopControl();
return true;
}
bool interruptModule()
{
imgInPort.interrupt();
imgOutPort.interrupt();
dataOutPort.interrupt();
rpcPort.interrupt();
return true;
}
bool interruptModule()
{
portDispIn.interrupt();
portDispOut.interrupt();
portOutPoints.interrupt();
portImgIn.interrupt();
portContour.interrupt();
portSFM.interrupt();
portRpc.interrupt();
return true;
}
virtual void threadRelease()
{
if (I)
delete I;
qdPort.interrupt();
voPort.interrupt();
qoPort.interrupt();
qdPort.close();
voPort.close();
qoPort.close();
}
bool interruptModule()
{
rpcPort.interrupt();
// Interrupt any blocking reads on the input port
imInPort.interrupt();
imOutPort.interrupt();
tempOutPort.close();
coordsInPort.interrupt();
trackInPort.interrupt();
coordsOutPort.interrupt();
return true;
}
void interrupt()
{
inPort.interrupt();
outPort.interrupt();
for(int i=0; i<huePorts.size(); i++) {
huePorts[i]->interrupt();
}
for(int i=0; i<satPorts.size(); i++) {
satPorts[i]->interrupt();
}
for(int i=0; i<intPorts.size(); i++) {
intPorts[i]->interrupt();
}
}
virtual void threadRelease()
{
portImgIn->interrupt();
portRefIn->interrupt();
portImgOut->interrupt();
portObjOut->interrupt();
delete portImgIn;
delete portRefIn;
delete portImgOut;
delete portObjOut;
}
bool interruptModule()
{
rpcPort.interrupt();
dumpPort.interrupt();
opc.interrupt();
return true;
}
bool interruptModule()
{
inVec.interrupt();
printf("inVec interrupted\n");
pred.interrupt();
printf("pred interrupted\n");
perf.interrupt();
printf("perf interrupted\n");
rpcPort.interrupt();
printf("rpcPort interrupted\n");
return true;
}
/*
* Interrupt function.
*/
bool interruptModule()
{
vergencePort.interrupt();
handlerPort.interrupt();
suspendPort.interrupt();
return true;
}
bool interruptModule()
{
// order does matter!
imageInPort.interrupt();
coordPort.interrupt();
imageOutPort.interrupt();
return true;
}
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;
}
/*
* Close function, to perform cleanup.
*/
bool close()
{
cout<<"Calling close function\n";
handlerPort.close();
gazeIn.interrupt();
gazeIn.close();
speechOut.close();
return true;
}
virtual bool interruptModule()
{
portIn.interrupt();
for(int i = 0; i < levels; i++)
portOut[i].interrupt();
return true;
};
bool close()
{
rpcPort.interrupt();
rpcPort.close();
dumpPort.interrupt();
dumpPort.close();
opc.interrupt();
opc.close();
return true;
}
bool interruptModule() {
// since a call to checkActionsDone() blocks
// the execution until it's done, we need to
// take control and exit from the waiting state
action->syncCheckInterrupt(true);
inPort.interrupt();
rpcPort.interrupt();
return true;
}
virtual void threadRelease()
{
acousticOut->interrupt();
areaOut->interrupt();
actuationIn->interrupt();
acousticOut->close();
areaOut->close();
actuationIn->close();
delete acousticOut;
delete areaOut;
delete actuationIn;
delete apa;
delete controller;
delete speaker;
}
/*
* Close function, to perform cleanup.
*/
bool close()
{
cout<<"Calling close function\n";
handlerPort.close();
imageIn.interrupt();
imageIn.close();
imageOut.close();
targetPort.close();
return true;
}
void threadRelease()
{
// we require an immediate stop
// before closing the client for safety reason
igaze->stopControl();
// it's a good rule to restore the controller
// context as it was before opening the module
igaze->restoreContext(startup_context_id);
clientGaze.close();
port.interrupt();
port.close();
}
bool interruptModule()
{
if(meas_given!=1)
{
portIn.interrupt();
rpcOut.interrupt();
}
rpcPort.close();
if(state==1)
delete loc5;
return true;
}
virtual void threadRelease()
{
armRest();
gazeRest();
igaze->restoreContext(startup_gazeContext_id);
clientGaze.close();
if (arm!="none")
{
iarm->restoreContext(startup_armContext_id);
clientArm.close();
}
portImgIn.interrupt();
portImgOut.interrupt();
portTopDown.interrupt();
portSetFace.interrupt();
portImgIn.close();
portImgOut.close();
portTopDown.close();
portSetFace.close();
}
// try to interrupt any communications or resource usage
bool interruptModule() {
port.interrupt();
return true;
}
bool interruptModule()
{
imgInPort.interrupt();
return true;
}
virtual bool interruptModule()
{
portImgIn.interrupt();
portImgOut.interrupt();
return true;
};
~BroadcastingThread()
{
port_data_out.interrupt();
port_data_out.close();
}
void close()
{
locOutPort.interrupt();
locOutPort.close();
locInPort.interrupt();
locInPort.close();
if(camCheck[LEFT])
{
imgInPort[LEFT].interrupt();
imgInPort[LEFT].close();
imgOutPort[LEFT].interrupt();
imgOutPort[LEFT].close();
blobsPort[LEFT].interrupt();
blobsPort[LEFT].close();
bkgSubPort[LEFT].interrupt();
bkgSubPort[LEFT].close();
if(track[LEFT]!=NULL)
cvReleaseImage(&track[LEFT]);
}
if(camCheck[RIGHT])
{
imgInPort[RIGHT].interrupt();
imgInPort[RIGHT].close();
imgOutPort[RIGHT].interrupt();
imgOutPort[RIGHT].close();
blobsPort[RIGHT].interrupt();
blobsPort[RIGHT].close();
bkgSubPort[RIGHT].interrupt();
bkgSubPort[RIGHT].close();
if(track[RIGHT]!=NULL)
cvReleaseImage(&track[RIGHT]);
}
for(int cam=0; cam<2; cam++)
{
for(map<string,deque<double> *>::iterator itr=margins[cam].begin(); itr!=margins[cam].end(); itr++)
{
delete (*itr).second;
}
for(map<string,deque<vector<CvPoint> > *>::iterator itr=histories[cam].begin(); itr!=histories[cam].end(); itr++)
{
delete (*itr).second;
}
}
for(map<string,int *>::iterator itr=colors.begin(); itr!=colors.end(); itr++)
{
delete [] (*itr).second;
}
}