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enable to cleanly quit from the program when audio is enabled #61

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enable to cleanly quit from the program when audio is enabled #61

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797d0ca
enable to cleanry quit from the program when audio is enabled
k-okada Jan 29, 2016
6cde4c4
unsubscribe each events
k-okada Jan 29, 2016
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2 changes: 1 addition & 1 deletion src/event/audio.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,7 @@ void AudioEventRegister::unregisterCallback()

void AudioEventRegister::processRemote(int nbOfChannels, int samplesByChannel, qi::AnyValue altimestamp, qi::AnyValue buffer)
{
boost::mutex::scoped_lock callback_lock(mutex_);
naoqi_bridge_msgs::AudioBuffer msg = naoqi_bridge_msgs::AudioBuffer();
msg.header.stamp = ros::Time::now();
msg.frequency = 48000;
Expand All @@ -174,7 +175,6 @@ void AudioEventRegister::processRemote(int nbOfChannels, int samplesByChannel, q
msg.data = std::vector<int16_t>(remoteBuffer, remoteBuffer+bufferSize);

std::vector<message_actions::MessageAction> actions;
boost::mutex::scoped_lock callback_lock(mutex_);
if (isStarted_) {
// CHECK FOR PUBLISH
if ( isPublishing_ && publisher_->isSubscribed() )
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4 changes: 3 additions & 1 deletion src/event/touch.cpp
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Expand Up @@ -111,7 +111,9 @@ void TouchEventRegister<T>::stopProcess()
//std::string serviceName = std::string("ROS-Driver-") + typeid(T).name();
std::string serviceName = std::string("ROS-Driver-") + keys_[0];
if(serviceId){
p_memory_.call<void>("unsubscribeToEvent", serviceName, "touchCallback");
for(std::vector<std::string>::const_iterator it = keys_.begin(); it != keys_.end(); ++it) {
p_memory_.call<void>("unsubscribeToEvent",it->c_str(), serviceName);
}
session_->unregisterService(serviceId);
serviceId = 0;
}
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