void ModeExecutor::run()
{
ros::Rate r(_activeMode->getFrequency());
ros::Time timeStart = ros::Time::now();
while(!isStopRequested())
{
_activeMode->execute();
if((_activeMode->getPulses() != 0) &&
(_activeMode->getPulses() <= _activeMode->pulsed()))
break;
if(_activeMode->getTimeout() != 0)
{
ros::Duration timePassed = ros::Time::now() - timeStart;
if(timePassed.toSec() >= ((double)_activeMode->getTimeout()/1000))
break;
}
r.sleep();
}
delete _activeMode;
_activeMode = NULL;
}
void ConsoleReader::run()
{
QTextStream stream(stdin);
QString line;
m_stop_requested = false;
forever
{
if (isStopRequested()) break;
line = stream.readLine();
if (line.isNull()) continue;
emit lineReceived(line);
}
}
void Simulator::simulate()
{
if ( !world ){
throw std::logic_error("Failed to start simulation: world not set");
}
while(! isStopRequested() ){
simulateStep( dt );
simulatedSteps ++;
simulatedTime += dt;
if (simulationDelay)
boost::this_thread::sleep(boost::posix_time::milliseconds( simulationDelay ));
}
stopRequest = false;//stop request fulfilled
}