[Personalrobots-commit] SF.net SVN: personalrobots: [151] pkg/trunk/gmapping/playerwrapper

[<ge...@us...>]

Revision: 151
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=151&view=rev
Author:   gerkey
Date:     2008-04-21 17:16:23 -0700 (Mon, 21 Apr 2008)

Log Message:
-----------
added enable_gui option

Modified Paths:
--------------
    pkg/trunk/gmapping/playerwrapper/playergfswrapper.cpp
    pkg/trunk/gmapping/playerwrapper/playergfswrapper.h

Modified: pkg/trunk/gmapping/playerwrapper/playergfswrapper.cpp
===================================================================
--- pkg/trunk/gmapping/playerwrapper/playergfswrapper.cpp	2008-04-21 21:49:53 UTC (rev 150)
+++ pkg/trunk/gmapping/playerwrapper/playergfswrapper.cpp	2008-04-22 00:16:23 UTC (rev 151)
@@ -114,6 +114,9 @@
 
   memset(&this->map,0,sizeof(player_map_data_t));
   this->map_resolution = 0.0;
+
+  int eg = cf->ReadInt(section, "enable_gui", 0);
+  this->enable_gui = eg ? true : false;
 }
 
 QApplication* app;
@@ -171,8 +174,10 @@
   }
 
   // start GFS thread
-  //this->gsp->start(this);
-  pthread_create(&this->gui_thread, 0, GUI_thread, this);
+  if(this->enable_gui)
+    pthread_create(&this->gui_thread, 0, GUI_thread, this);
+  else
+    this->gsp->start(this);
 
   this->StartThread();
   return(0);
@@ -186,8 +191,10 @@
   this->laser->Unsubscribe(this->InQueue);
 
   // stop GFS thread
-  app->exit();
-  //this->gsp->stop();
+  if(this->enable_gui)
+    app->exit();
+  else
+    this->gsp->stop();
 
   delete this->gsp;
 

Modified: pkg/trunk/gmapping/playerwrapper/playergfswrapper.h
===================================================================
--- pkg/trunk/gmapping/playerwrapper/playergfswrapper.h	2008-04-21 21:49:53 UTC (rev 150)
+++ pkg/trunk/gmapping/playerwrapper/playergfswrapper.h	2008-04-22 00:16:23 UTC (rev 151)
@@ -73,6 +73,7 @@
     // Current map
     player_map_data_t map;
     double map_resolution;
+    bool enable_gui;
 
   public:
     PlayerGFSWrapper(ConfigFile* cf, int section);


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