Revision 4e9221c4

View differences:

src/server/joint_interface.cpp
104 104 
//! return the timestamped float for the given joints position
105 105 
TimestampedList JointInterface::get_ts_position(int joint_id){
106 106 
    //lock the tsd_list for this access. by doing this we assure
107 
    //that no other thread accessing this element can diturb the
107 
    //that no other thread accessing this element can disturb the
108 108 
    //following atomic instructions:
109 109 
    mutex::scoped_lock scoped_lock(joint_ts_position_map_access_mutex);
110 110 

  		












  

    
      src/server/server.cpp
    
  





  98
  98
  
    
    float loop_delay = 1000.0 / MOTION_UPDATERATE;


  		




  99
  99
  
    
    boost::system_time timeout = get_system_time() + posix_time::milliseconds(loop_delay);


  		




  100
  100
  
    

  		




  
  101
  
    
    //wait for incoming joint data:


  		




  
  102
  
    
    while (middleware->ok()){


  		




  
  103
  
    
        //mw tick


  		




  
  104
  
    
        middleware->tick();


  		




  
  105
  
    

  		




  
  106
  
    
        unsigned int incoming_data_count = joint_interface->get_and_clear_incoming_position_count();


  		




  
  107
  
    
        if (incoming_data_count == 0){


  		




  
  108
  
    
                incoming_data_count_invalid++;


  		




  
  109
  
    
                if (incoming_data_count_invalid >= MOTION_UPDATERATE){


  		




  
  110
  
    
                    printf("> waiting for joint data...\n");


  		




  
  111
  
    
                    incoming_data_count_invalid = 0;


  		




  
  112
  
    
                }


  		




  
  113
  
    
        }else{


  		




  
  114
  
    
            //fine, joint data is arriving, exit waiting loop


  		




  
  115
  
    
            break;


  		




  
  116
  
    
        }


  		




  
  117
  
    

  		




  
  118
  
    
        thread::sleep(timeout);


  		




  
  119
  
    
        timeout = get_system_time() + posix_time::milliseconds(loop_delay);


  		




  
  120
  
    
    }


  		




  
  121
  
    

  		




  
  122
  
    
    //fine, data is arriving, activate and run control loop:


  		




  101
  123
  
    
    while (middleware->ok()){


  		




  102
  124
  
    
        //mw tick


  		




  103
  125
  
    
        middleware->tick();


  		












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