Made main.cpp wait until processor is finished setting up to continue

RoboJackets · Apr 13, 2016 · bafd07a · bafd07a
1 parent 1c5969f
commit bafd07a
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Showing 3 changed files with 16 additions and 0 deletions.
diff --git a/soccer/Processor.cpp b/soccer/Processor.cpp
@@ -61,6 +61,7 @@ Processor::Processor(bool sim) : _loopMutex(QMutex::Recursive) {
     firstLogTime = 0;
     _useOurHalf = true;
     _useOpponentHalf = true;
+    _initialized = false;
 
     _simulation = sim;
     _radio = nullptr;
@@ -567,6 +568,9 @@ void Processor::run() {
         _status = curStatus;
         _statusMutex.unlock();
 
+        // Processor Initialization Completed
+        _initialized = true;
+
         ////////////////
         // Timing
 
@@ -737,3 +741,6 @@ void Processor::setFieldDimensions(const Field_Dimensions& dims) {
     recalculateWorldToTeamTransform();
     _gameplayModule->calculateFieldObstacles();
 }
+
+const bool Processor::isRadioOpen() { return _radio->isOpen(); }
+const bool Processor::isInitialized() { return _initialized; }
diff --git a/soccer/Processor.hpp b/soccer/Processor.hpp
@@ -177,6 +177,10 @@ class Processor : public QThread {
 
     void setFieldDimensions(const Field_Dimensions& dims);
 
+    const bool isRadioOpen();
+
+    const bool isInitialized();
+
     ////////
 
     // Time of the first LogFrame
@@ -274,4 +278,6 @@ class Processor : public QThread {
     bool _useFieldOrientedManualDrive = false;
 
     VisionReceiver vision;
+
+    bool _initialized;
 };
diff --git a/soccer/main.cpp b/soccer/main.cpp
@@ -181,6 +181,9 @@ int main(int argc, char* argv[]) {
 
     processor->start();
 
+    while (!processor->isInitialized()) {
+    }
+
     if (playbookFile.size() > 0)
         processor->gameplayModule()->loadPlaybook(playbookFile);