Revision c251e610

View differences:

src/server/server.cpp
97 97 
    //calculate loop delay:
98 98 
    float loop_delay = 1000.0 / MOTION_UPDATERATE;
99 99 
    boost::system_time timeout = get_system_time() + posix_time::milliseconds(loop_delay);
100 

  		




  101
  100
  
    
    printf("> one loop = %3.1fms\n",loop_delay);


  		




  102
  101
  
    

  		




  103
  
  
    
    printf("> waiting for incoming joint states\n");


  		




  104
  
  
    

  		




  105
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    //wait for incoming joint data:


  		




  106
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    while (middleware->ok()){


  		




  107
  104
  
    
        //mw tick


  		




  ......




  111
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        if (incoming_data_count == 0){


  		




  112
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                incoming_data_count_invalid++;


  		




  113
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                if (incoming_data_count_invalid >= MOTION_UPDATERATE){


  		




  114
  
  
    
                    printf("> waiting for joint data...\n");


  		




  
  111
  
    
                    printf("> waiting for valid incoming joint data (position+velocity)\n");


  		




  115
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                    incoming_data_count_invalid = 0;


  		




  116
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                }


  		




  117
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        }else{


  		












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