Revision 7ed40bef src/server/server.cpp
| src/server/server.cpp | ||
|---|---|---|
| 106 | 106 |
|
| 107 | 107 |
unsigned int incoming_data_count = joint_interface->get_and_clear_incoming_position_count(); |
| 108 | 108 |
if (incoming_data_count == 0){
|
| 109 |
incoming_data_count_invalid++;
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| 110 |
if (incoming_data_count_invalid >= MOTION_UPDATERATE){
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| 111 |
printf("> waiting for valid incoming joint data (position+velocity)\n");
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| 112 |
incoming_data_count_invalid = 0;
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}
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| 109 |
incoming_data_count_invalid++; |
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| 110 |
if (incoming_data_count_invalid >= MOTION_UPDATERATE){
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printf("> waiting for valid incoming joint data (position+velocity)\n");
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incoming_data_count_invalid = 0; |
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} |
|
| 114 | 114 |
}else{
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| 115 | 115 |
//fine, joint data is arriving, exit waiting loop |
| 116 | 116 |
break; |
| ... | ... | |
| 143 | 143 |
//check if we received joint information in the last step: |
| 144 | 144 |
unsigned int incoming_data_count = joint_interface->get_and_clear_incoming_position_count(); |
| 145 | 145 |
if (incoming_data_count == 0){
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//printf("> WARNING: no incoming joint data during the last iteration...\n");
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incoming_data_count_invalid++;
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if (incoming_data_count_invalid >= MOTION_UPDATERATE){
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printf("> ERROR: no incoming joint data for >1 second -> will exit now\n");
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exit(EXIT_FAILURE);
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}
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//printf("> WARNING: no incoming joint data during the last iteration...\n");
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incoming_data_count_invalid++; |
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if (incoming_data_count_invalid >= MOTION_UPDATERATE){
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printf("> ERROR: no incoming joint data for >1 second -> will exit now\n");
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exit(EXIT_FAILURE); |
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} |
|
| 152 | 152 |
}else{
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incoming_data_count_invalid = 0;
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incoming_data_count_invalid = 0; |
|
| 154 | 154 |
} |
| 155 | 155 |
|
| 156 | 156 |
thread::sleep(timeout); |
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