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-rw-r--r--tracker-s2bot/ftnoir_tracker_s2bot.cpp9
1 files changed, 6 insertions, 3 deletions
diff --git a/tracker-s2bot/ftnoir_tracker_s2bot.cpp b/tracker-s2bot/ftnoir_tracker_s2bot.cpp
index cb8afcdc..48220c5a 100644
--- a/tracker-s2bot/ftnoir_tracker_s2bot.cpp
+++ b/tracker-s2bot/ftnoir_tracker_s2bot.cpp
@@ -13,7 +13,7 @@ tracker_s2bot::tracker_s2bot() : pose { 0,0,0, 0,0,0 }, m_nam (std::make_unique<
tracker_s2bot::~tracker_s2bot()
{
- requestInterruption();
+ QThread::exit(0); // stop event loop
wait();
}
@@ -30,12 +30,12 @@ static const t bound(t datum, t least, t max)
void tracker_s2bot::run() {
if (s.freq == 0) s.freq = 10;
timer.setInterval(1000.0/s.freq);
- timer.setSingleShot(false);
+ timer.setSingleShot(false);
connect(&timer, &QTimer::timeout, [this]() {
auto reply = m_nam->get(QNetworkRequest(QUrl("http://localhost:17317/poll")));
connect(reply, &QNetworkReply::finished, [this, reply]() {
if (reply->error() == QNetworkReply::NoError) {
- //qDebug() << "Request submitted OK";
+ qDebug() << "Request submitted OK";
}
else {
qWarning() << "Request bounced:" << reply->attribute(QNetworkRequest::HttpStatusCodeAttribute) << reply->errorString();
@@ -80,14 +80,17 @@ void tracker_s2bot::run() {
reply->deleteLater();
});
});
+
timer.start();
exec();
+ timer.stop();
}
void tracker_s2bot::start_tracker(QFrame*)
{
start();
timer.moveToThread(this);
+ m_nam->moveToThread(this);
}
void tracker_s2bot::data(double *data)