void M3SerialPort::close() {
M3_INFO("Stopping M3SerialPort Thread %s\n",port.c_str());
if (!rc1)
{
stop_thread = true;
pthread_cancel(thread1);
pthread_join( thread1, NULL);
}
if (fd!=-1)
::close(fd);
// Reset variables
fd = -1;
pendingBufferSize = 0;
completeRawBuffer.erase(completeRawBuffer.begin(), completeRawBuffer.end());
M3_INFO("Closed M3SerialPort %s\n",port.c_str());
}
bool M3LoadX1::LinkDependentComponents()
{
ecc=(M3LoadX1Ec*) factory->GetComponent(ecc_name);
if (ecc==NULL)
{
M3_INFO("M3LoadX1Ec component %s not found for component %s\n",ecc_name.c_str(),GetName().c_str());
return false;
}
return true;
}
bool JointsController::ReadConfig(const char* cfg_filename)
{
YAML::Node doc;
if(!M3Controller::ReadConfig(cfg_filename))
return false;
GetYamlDoc(cfg_filename, doc);
if(YAML::Node parameter = doc["joints_trj"])
{
doc["joints_trj"] >> cmd_input_file_name_;
M3_INFO("Using an input file for the component %s\n",GetName().c_str());
reference_source_ = TRJ_REF;
}
