Revision 60dfadc5 src/server/server.cpp

View differences:

src/server/server.cpp
121 121 
        timeout = get_system_time() + posix_time::milliseconds(loop_delay);
122 122 
    }
123 123 

  		




  124
  
  
    
    printf("> joint data arrived, will activate control loop now.\n");


  		




  
  124
  
    
    printf("> joint data arrived, control loop active.\n");


  		




  125
  125
  
    

  		




  126
  126
  
    
    //fine, data is arriving, activate and run control loop:


  		




  127
  127
  
    
    while (middleware->ok()){


  		




  ......




  146
  146
  
    
                //printf("> WARNING: no incoming joint data during the last iteration...\n");


  		




  147
  147
  
    
                incoming_data_count_invalid++;


  		




  148
  148
  
    
                if (incoming_data_count_invalid >= MOTION_UPDATERATE){


  		




  149
  
  
    
                    printf("> ERROR: no incoming joint data for 1s -> will exit now\n");


  		




  
  149
  
    
                    printf("> ERROR: no incoming joint data for >1 second -> will exit now\n");


  		




  150
  150
  
    
                    exit(EXIT_FAILURE);


  		




  151
  151
  
    
                }


  		




  152
  152
  
    
        }else{


  		












Also available in:  Unified diff