[openrtm-users 01161] Re: Clean-up of OpenRTM application

[kurihara shinji]

Hello,

I am going to resend it now because I forgot to attach the patch file. (Manager.cpp.diff)


Regards, 
Shinji Kurihara


On Wed, 10 Mar 2010 14:14:21 +0900
kurihara shinji <shinji.kurihara ＠ aist.go.jp> wrote:

> Hello,
> 
> Please try to apply the patch attached to the mailing list "[openrtm-users 01149]".
>  or 
> Please check out the source of the latest version from the following repositories.
> 
>  http://openrtp.jp/openrtm/svn/OpenRTM-aist/branches/RELENG_1_0/OpenRTM-aist
> 
> 
> Regards, 
> Shinji Kurihara
> 
> On Mon, 08 Mar 2010 18:04:32 +0100
> Steffen Wittmeier <steffen.wittmeier ＠ in.tum.de> wrote:
> 
> > Hi,
> > 
> > I am building a robot simulator application based on OpenRTM components 
> > (so that the simulator can smoothly be integrated with the real robot 
> > which also uses RTCs).
> > 
> > The simulator GUI is using Qt and the main window as well as the 
> > individual widgets are derived from QMainWindow and QWidget, 
> > respectively, as well as from RTC::DataFlowComponentBase. Hence, every 
> > widget is a RTC and a GUI widget at the same time.
> > 
> > This approach works quite well and I can even delete individual 
> > widgets/RTC at run-time by catching the widget close event and calling 
> > exit() on the component.
> > 
> > However, I am having troubles with cleaning-up the application on 
> > closing. I am always getting the following error:
> > 
> > terminate called after throwing an instance of 'omni_thread_fatal'
> > Aborted
> > 
> > What would be the right way of destructing the RTCs? I already updated 
> > to OpenRTM 1.0 as the destructors were not called when I used OpenRTM 0.42.
> > 
> > Any help is appreciated...
> > 
> > 
> > Here's a snapshot of the code that I am using:
> > int
> > main(int argc, char** argv)
> > {
> >    RTC::Manager* manager;
> >    manager = RTC::Manager::init(argc, argv);
> > 
> >    // Initialize manager
> >    manager->init(argc, argv);
> > 
> >    // Set module initialization procedure
> >    // that's where I create the basic components of the GUI
> >    // (MainWindow, Model, Controller, LogManager)
> >    manager->setModuleInitProc(createComponents);
> > 
> >    // Activate manager and register to naming service
> >    manager->activateManager();
> > 
> >    // run the manager in non-blocking mode
> >    manager->runManager(true);
> > 
> >    // Qt main loop
> >    application.exec();
> > 
> >   // when the main loop exits, clean up components
> >   // compMainWindow, compEcceosController, etc. are handles
> >   // to the component, they are of type RTC::RtcBase*
> >    if (compMainWindow != 0)
> >    {
> >      std::cout << "Exiting main window" << std::endl;
> >      compMainWindow->exit();
> >    }
> > 
> >    if (compEcceosController != 0)
> >    {
> >      std::cout << "Exiting controller" << std::endl;
> >      compEcceosController->exit();
> >    }
> > 
> >    if (compEcceosModel != 0)
> >    {
> >      std::cout << "Exiting model" << std::endl;
> >      compEcceosModel->exit();
> >    }
> > 
> >    if (compLogManager != 0)
> >    {
> >      std::cout << "Exiting log manager" << std::endl;
> >      //compLogManager->exit();
> >    }
> > 
> >    manager->terminate();
> > 
> >    return 0;
> > }
> > 
> 
> 
> -- 
> ----------
> 栗原　眞二 <shinji.kurihara ＠ aist.go.jp>
> 
> 独立行政法人産業技術総合研究所
>   知能システム研究部門　統合知能研究グループ
>   〒305-8568
>   茨城県つくば市梅園1-1-1 中央第2
> 
>   TEL: 029-861-5956
> 


-- 
----------
栗原　眞二 <shinji.kurihara ＠ aist.go.jp>

独立行政法人産業技術総合研究所
  知能システム研究部門　統合知能研究グループ
  〒305-8568
  茨城県つくば市梅園1-1-1 中央第2

  TEL: 029-861-5956
-------------- next part --------------
テキスト形式以外の添付ファイルを保管しました...
ファイル名: Manager.cpp.diff
型:         text/x-diff
サイズ:     2288 バイト
説明:       無し
URL:        <http://www.openrtm.org/pipermail/openrtm-users/attachments/20100312/7a9cf661/attachment-0001.diff>