Merge pull request KITmedical#7 from KITmedical/issue5

Fixing issue KITmedical#5
xdaco · Mar 3, 2018 · befa914 · befa914
2 parents 5e628d0 + fa50e0d
commit befa914
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Showing 3 changed files with 9 additions and 5 deletions.
diff --git a/master/include/transmit_pdo_mapping.h b/master/include/transmit_pdo_mapping.h
@@ -90,7 +90,9 @@ namespace kaco {
 
 		/// The transmitter thread
 		/// \note This is a unique pointer because transmitter is optional.
-		std::unique_ptr<std::thread> transmitter;
+		std::unique_ptr<std::thread> periodic_transmitter{nullptr};
+
+		bool run_periodic_transmitter{false};
 
 		/// Sends the PDO
 		void send() const;

diff --git a/master/src/device.cpp b/master/src/device.cpp
@@ -233,9 +233,10 @@ void Device::add_transmit_pdo_mapping(uint16_t cob_id, const std::vector<Mapping
 			WARN("[Device::add_transmit_pdo_mapping] Repeat time is 0. This could overload the bus.");
 		}
 
-		pdo.transmitter = std::unique_ptr<std::thread>(new std::thread([&pdo, repeat_time](){
+		pdo.run_periodic_transmitter = true;
+		pdo.periodic_transmitter = std::unique_ptr<std::thread>(new std::thread([&pdo, repeat_time](){
 
-			while (true) {
+			while (pdo.run_periodic_transmitter) {
 				DEBUG_LOG("[Timer thread] Sending periodic PDO.");
 				pdo.send();
 				std::this_thread::sleep_for(repeat_time);

diff --git a/master/src/transmit_pdo_mapping.cpp b/master/src/transmit_pdo_mapping.cpp
@@ -53,8 +53,9 @@ TransmitPDOMapping::TransmitPDOMapping(Core& core, const std::unordered_map<Addr
 	}
 
 TransmitPDOMapping::~TransmitPDOMapping() {
-	if (transmitter) {
-		transmitter->detach();
+	if (periodic_transmitter) {
+		run_periodic_transmitter = false;
+		periodic_transmitter->join();
 	}
 }