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FIX: fixed closing issue

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This commit is contained in:
Henry Winkel
2023-01-18 14:37:01 +01:00
parent 193336e7fb
commit 3bc56734da
2 changed files with 45 additions and 40 deletions
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2
libs/whisper-com

Submodule libs/whisper-com updated: 49bdb28535...f7d57ccbb8

79
src/SimCore/Sensor.cpp
View File

@@ -26,32 +26,30 @@ namespace SimCore {
GroundTruthUDPService_ = std::make_shared<WHISPER::InternalUDPService>(OwnID.getNumber(),WHISPER::SENSOR,8000,SimCore::UtilFunctions::implode(ip,'.'),ownIP);
ParentUDPService_ = std::make_shared<WHISPER::InternalUDPService>(OwnID.getNumber(),WHISPER::SENSOR,ParentPort,ParentIPAddress_,ownIP);
ReloadCharacteristicts();
};
Sensor::~Sensor(){
// this->stop();
if (ReceivingGroundThruthIsRunnung && sendCalculatedDataIsRunnung && CalculationIsRunnung) {
this->stop();
while (!this->incommingGroundThruthMessages.unique()) {
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
this->incommingGroundThruthMessages.reset();
while (!this->outgoingGroundThruthMessages.unique()) {
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
this->outgoingGroundThruthMessages.reset();
GroundTruthUDPService_->disconnect();
// GroundTruthUDPService_->disconnect();
while (!this->GroundTruthUDPService_.unique()) {
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
this->GroundTruthUDPService_.reset();
LOG_S(INFO)<<"groundThruth is closed";
ParentUDPService_->disconnect();
while (!this->ParentUDPService_.unique()) {
std::this_thread::sleep_for(std::chrono::milliseconds(100));
@@ -59,19 +57,22 @@ namespace SimCore {
this->ParentUDPService_.reset();
LOG_S(INFO)<<"all destructed";
}
void Sensor::start(){
ReloadCharacteristicts();
stopReceivingGroundThruth = false;
receiveGroundTruthThread = std::thread(&Sensor::receivingData,this);
// stopsendCalculatedData = false;
// sendCalculatedDataThread = std::thread(&Sensor::sendingData,this);
stopsendCalculatedData = false;
sendCalculatedDataThread = std::thread(&Sensor::sendingData,this);
// stopCalculationData = false;
// sensorCalculationThread = std::thread(&Sensor::SensorCalculations,this);
stopCalculationData = false;
sensorCalculationThread = std::thread(&Sensor::SensorCalculations,this);
}
void Sensor::stop() {
@@ -79,7 +80,7 @@ namespace SimCore {
while (ReceivingGroundThruthIsRunnung == true ) {
stopReceivingGroundThruth = true;
LOG_S(INFO)<<"waiting for receiving thread thread";
LOG_S(INFO)<<"waiting for groundthruth thread thread";
if (receiveGroundTruthThread.joinable() == true ) {
receiveGroundTruthThread.join();
}
@@ -87,7 +88,7 @@ namespace SimCore {
while (sendCalculatedDataIsRunnung == true ) {
stopsendCalculatedData = true;
LOG_S(INFO)<<"waiting for receiving thread thread";
LOG_S(INFO)<<"waiting for parent sending thread thread";
if (sendCalculatedDataThread.joinable() == true ) {
sendCalculatedDataThread.join();
}
@@ -95,11 +96,13 @@ namespace SimCore {
while (CalculationIsRunnung == true ) {
stopCalculationData = true;
LOG_S(INFO)<<"waiting for receiving thread thread";
LOG_S(INFO)<<"waiting for calculation thread thread";
if (sensorCalculationThread.joinable() == true ) {
sensorCalculationThread.join();
}
}
LOG_S(INFO)<<"all stopped";
}
@@ -107,27 +110,27 @@ namespace SimCore {
void Sensor::receivingData()
{
this->ReceivingGroundThruthIsRunnung = true;
// GroundTruthUDPService_->connect(incommingGroundThruthMessages);
// GroundTruthUDPService_->subscribe(WHISPER::MsgTopicsMap[WHISPER::MsgTopics::TRACK]);
GroundTruthUDPService_->connect(incommingGroundThruthMessages);
GroundTruthUDPService_->subscribe(WHISPER::MsgTopicsMap[WHISPER::MsgTopics::TRACK]);
// while (stopReceivingGroundThruth == false) {
// if (incommingGroundThruthMessages->size() > 0) {
// WHISPER::Message msg;
// incommingGroundThruthMessages->get(msg);
// if (msg.msgType_ == WHISPER::MsgType::RAW_TRACK) {
// auto Track = SimCore::Track(msg.serialize());
// incommingTrackMessages->addElement(Track);
// }
// }
while (stopReceivingGroundThruth == false) {
if (incommingGroundThruthMessages->size() > 0) {
WHISPER::Message msg;
incommingGroundThruthMessages->get(msg);
if (msg.msgType_ == WHISPER::MsgType::RAW_TRACK) {
auto Track = SimCore::Track(msg.serialize());
incommingTrackMessages->addElement(Track);
}
}
// if (outgoingGroundThruthMessages->size() > 0) {
// WHISPER::Message msg;
// outgoingGroundThruthMessages->get(msg);
// GroundTruthUDPService_->publish(msg.serialize(), WHISPER::MsgTopicsMap[(WHISPER::MsgTopics)msg.topic_]);
// }
if (outgoingGroundThruthMessages->size() > 0) {
WHISPER::Message msg;
outgoingGroundThruthMessages->get(msg);
GroundTruthUDPService_->publish(msg.serialize(), WHISPER::MsgTopicsMap[(WHISPER::MsgTopics)msg.topic_]);
}
// }
// GroundTruthUDPService_->disconnect();
}
GroundTruthUDPService_->disconnect();
this->ReceivingGroundThruthIsRunnung = false;
}
@@ -165,16 +168,18 @@ namespace SimCore {
while (!stopCalculationData) {
specificSensorCalculations();
std::this_thread::sleep_for(std::chrono::milliseconds(500));
}
LOG_S(INFO)<<"calculation is stopt";
CalculationIsRunnung = false;
}
void Sensor::ReloadCharacteristicts()
{
LOG_S(INFO)<<"loading specs";
// specificReloadCharacteristicts();
specificReloadCharacteristicts();
}