Add taskManager and check for libLoad errors #39
Conversation
checked on emulator for CS8C and CS9
|
So this is currently stalled as I don't have access to SRS or a Staubli robot. I'm willing to accept the PR based on the fact that you've tested it @JohannesFriedrich, but that would mean it'd be harder to understand future support requests -- if you're not around that is. It would be great if we could have one more additional user confirming this is all fine. Perhaps @marshallpowell97 could take a quick look? |
|
@JohannesFriedrich: I'm also wondering about the diffs. Did you change the line-ending used in the listed files? |
| </Types> | ||
| <?xml version="1.0" encoding="utf-8"?> | ||
| <Project xmlns="http://www.staubli.com/robotics/VAL3/Project/3"> | ||
| <Parameters version="s8.12Cs9_BS2378" stackSize="5000" millimeterUnit="true" /> |
There was a problem hiding this comment.
Could this cause problems on CS8 controllers?
There was a problem hiding this comment.
Haven't tested it yet, but the change in version doesn't prevent me from opening it on CS8. I will be working on this for the next few weeks and will review this PR.
| call libInterface:clearScreen() | ||
| endIf | ||
|
|
||
| taskKill("streamerTask") |
There was a problem hiding this comment.
Doesn't make sense to kill the tasks with their string name, it is being set as a variable at the start() program,
sStreamTaskName = "streamerTask"
And the tasks are being created with the variable,
taskCreateSync sStreamTaskName, nFbkPeriod, bFbkOverrun, dataStreamer()
Then would make sense to kill with the variable as well:
taskKill(sStreamTaskName )
and not like it is at the moment,
taskKill("streamerTask")
| toNum(l_sVersionMinor, l_nVersionMinor, l_bOkMinor) | ||
| if(!l_bOkMajor or !l_bOkMinor) | ||
| popUpMsg("Error reading VAL 3 version") | ||
| call stop() |
There was a problem hiding this comment.
I wouldn't do this, calling the stop() here! And after this, the application stops running, which means the stop() program is called again. I would just end the start program either by doing nothing or with a return otherwise the stop() program is running twice!
| else | ||
| // feedback task will run every 20ms (50Hz) | ||
| nFbkPeriod=0.02 | ||
| //l_nFbkPeriod = 0.032 // 30Hz |
There was a problem hiding this comment.
I would also change the name on the comment as well, from l_nFbkPeriod to nFbkPeriod. Same for the others...
There was a problem hiding this comment.
@gavanderhoorn What do you think? These are minor changes that will defiantly improve the original master branch, there are a few typos that I or you could fix. Also, the task manager is only creating the tasks if any are killed. It would be great to display this information o the pendant as well. I can do it if you wish...
checked on emulator for CS8C and CS9
PR to #35