FIX: fixed some bugs

ADD: added raw_track message frame

src/WHISPER/whisper.cpp

@@ -35,13 +35,17 @@ namespace WHISPER
 
   void whispercomm::disconnect()
   {
+    stopReceiveThread = true;
+    if(receiveThread.joinable()) receiveThread.join();
     derivedDisconnect();
+
   }
 
   void whispercomm::publish(std::string msg,std::string topic){
     this->derivedPublish(msg,topic);
   }
 
+
   void whispercomm::receive(){
 
     connected = true;
@@ -49,17 +53,20 @@ namespace WHISPER
     derivedReceive();
 
     while(!stopReceiveThread)
-  {
-    derivedReceive();
-  }
+    {
+      derivedReceive();
+    }
    
   }
 
   
   void whispercomm::subscribe(std::string topic)
-  {
+  { 
+    
     this->subscribedTopics.push_back(topic);
     derivedSubscribe(topic);
+
+   
   }
 
   void whispercomm::unsubscribe(std::string topic)
@@ -89,6 +96,14 @@ namespace WHISPER
   {
     gateway = val;
   }
+  bool whispercomm::isGateway(){
+    return gateway;
+  }
+ SourceType whispercomm::getOwnDeviceType()
+ {
+  return ownDeviceType_;
+ }
+
 
   // Add datatypes here
 } // namespace WHISPER