yarp,testIsRunning

!test-isrunning.md

test-isrunning

Check yarp::os::RateThread::isRunning() method (see robotology/yarp#265).

CMakeLists.txt

# Copyright: (C) 2016 iCub Facility - Istituto Italiano di Tecnologia
# Author: Ugo Pattacini <ugo.pattacini@iit.it>
# CopyPolicy: Released under the terms of the GNU GPL v2.0.

cmake_minimum_required(VERSION 2.6)
set(PROJECTNAME testIsRunning)
project(${PROJECTNAME})

find_package(YARP)
list(APPEND CMAKE_MODULE_PATH ${YARP_MODULE_PATH})

find_package(ICUBcontrib)
list(APPEND CMAKE_MODULE_PATH ${ICUBCONTRIB_MODULE_PATH})
include(ICUBcontribHelpers)
include(ICUBcontribOptions)
icubcontrib_set_default_prefix()

set(sources main.cpp)
source_group("Source Files" FILES ${sources})

include_directories(${YARP_INCLUDE_DIRS})
add_executable(${PROJECTNAME} ${sources})
target_link_libraries(${PROJECTNAME} ${YARP_LIBRARIES})

main.cpp

/* 
 * Copyright (C) 2016 iCub Facility - Istituto Italiano di Tecnologia
 * Author: Ugo Pattacini
 * email:  ugo.pattacini@iit.it
 * Permission is granted to copy, distribute, and/or modify this program
 * under the terms of the GNU General Public License, version 2 or any
 * later version published by the Free Software Foundation.
 *
 * A copy of the license can be found at
 * http://www.robotcub.org/icub/license/gpl.txt
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
 * Public License for more details
*/

#include <cstdio>
#include <yarp/os/all.h>
using namespace yarp::os;

class TestThread : public RateThread
{
    double t0;
    bool justStopped;
public:
    TestThread() : RateThread(1000)
    {
        t0=Time::now();
        justStopped=false;
    }
    
    void run()
    {
        printf("running...\n");
        if ((Time::now()-t0>5.0) && !justStopped)
        {
            askToStop();
            justStopped=true;
            printf("stopped!\n");
        }
    }
};


class TestModule: public RFModule
{
    TestThread test;

public:
    bool configure(ResourceFinder &rf)
    {
        printf("isRunning()==%s\n",test.isRunning()?"true":"false");
        bool ret=test.start();
        printf("start()==%s\n",ret?"true":"false");
        printf("isRunning()==%s\n",test.isRunning()?"true":"false");
        return true;
    }

    bool close()
    {
        test.stop();
        return true;
    }

    double getPeriod()
    {
        return 1.0;
    }
    
    bool updateModule()
    {
        if (!test.isRunning())
        {
            printf("isRunning()==%s\n",test.isRunning()?"true":"false");
            bool ret=test.start();
            printf("start()==%s\n",ret?"true":"false");
            printf("isRunning()==%s\n",test.isRunning()?"true":"false");
        }

        return true;
    }
};


int main()
{   
    Network yarp;
    if (!yarp.checkNetwork())
        return 1;

    TestModule mod;
    ResourceFinder rf;
    return mod.runModule(rf);
}