Address PR comments.

DeepBlueRobotics · Jul 16, 2024 · 4378a6b · 4378a6b
1 parent 850f6e4
commit 4378a6b
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/plugin/controller/src/main/java/org/carlmontrobotics/deepbluesim/WebotsSupervisor.java b/plugin/controller/src/main/java/org/carlmontrobotics/deepbluesim/WebotsSupervisor.java
@@ -219,7 +219,8 @@ public void run() {
                         LOG.log(Level.DEBUG, "Loading world {0}",
                                 reloadRequest);
                         robot.worldLoad(reloadRequest);
-                        stepSimulation(robot, basicTimeStep);
+                        // Allow Webots to process the request.
+                        robot.step(0);
                         LOG.log(Level.DEBUG, "Loaded world {0}", reloadRequest);
                     });
                 });

diff --git a/plugin/libdeepbluesim/src/main/java/org/carlmontrobotics/libdeepbluesim/WebotsSimulator.java b/plugin/libdeepbluesim/src/main/java/org/carlmontrobotics/libdeepbluesim/WebotsSimulator.java
@@ -445,8 +445,6 @@ private void startTimeSync() {
                             return;
                         }
                         simTimeSec = eventValue;
-                        // Start the robot timing if we haven't already
-                        ensureRobotTimingStarted();
 
                         // Do nothing if the robot program is not rurnning
                         if (!isRobotCodeRunning) {
@@ -824,6 +822,11 @@ public void close() {
         if (timeSyncDevice != null) {
             timeSyncDevice.close();
         }
+        try {
+            listenerCallbackExecutor.shutdown();
+        } catch (SecurityException ex) {
+            LOG.log(Level.ERROR, "Could not shutdown callback executor.", ex);
+        }
 
         LOG.log(Level.DEBUG, "Done closing WebotsSimulator");
     }