thread.cpp

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#include <model/thread.hpp>
#include <QMessageBox>


void ROSserver::run() {  // no exec() call = no event handling
  // seperate the terminal command from what it should start
  QProcess ROS_process;
  ROS_process.start( workspace.c_str() );
  /* The signal errorOccurred only appears in Qt 5.6!!!
     connect( &ROSprocess,
     SIGNAL( errorOccurred(QProcess::ProcessError) ),
     this, SLOT( threadError(QProcess::ProcessError) ) ); */
  ROS_process.waitForStarted();  // waits up to 30 s
  if (ROS_process.state() == QProcess::NotRunning)
    threadError( ROS_process.error() ); 
  //exec();            // solution 1, does not stop ROSprocess
  while (ROS_run);      // wait for a ROSserver::stop() (sol. 2)
  ROS_process.close();  // OK with solution 2
} // end of void run()