Added missing pipeline.stop() call in RTDEClient destructor

fmauch · fmauch · commit d53b77232158 · 2021-03-15T14:36:40.000+01:00
diff --git a/include/ur_client_library/rtde/rtde_client.h b/include/ur_client_library/rtde/rtde_client.h
@@ -93,7 +93,7 @@ class RTDEClient
    */
   RTDEClient(std::string robot_ip, comm::INotifier& notifier, const std::string& output_recipe_file,
              const std::string& input_recipe_file);
-  ~RTDEClient() = default;
+  ~RTDEClient();
   /*!
    * \brief Sets up RTDE communication with the robot. The handshake includes negotiation of the
    * used protocol version and setting of input and output recipes.
diff --git a/src/rtde/rtde_client.cpp b/src/rtde/rtde_client.cpp
@@ -45,6 +45,11 @@ RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const st
 {
 }
 
+RTDEClient::~RTDEClient()
+{
+  pipeline_.stop();
+}
+
 bool RTDEClient::init()
 {
   // A running pipeline is needed inside setup

Original file line number	Diff line number	Diff line change
`@@ -45,6 +45,11 @@ RTDEClient::RTDEClient(std::string robot_ip, comm::INotifier& notifier, const st`
`45`	`45`	`{`
`46`	`46`	`}`
`47`	`47`
	`48`	`+RTDEClient::~RTDEClient()`
	`49`	`+{`
	`50`	`+ pipeline_.stop();`
	`51`	`+}`
	`52`	`+`
`48`	`53`	`bool RTDEClient::init()`
`49`	`54`	`{`
`50`	`55`	`// A running pipeline is needed inside setup`