Add attorney for setEmergencyStopStateNoReportToTopic

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h

@@ -105,11 +105,6 @@ namespace armarx
             // /////////////////////////////////// Module interface /////////////////////////////////// //
             // //////////////////////////////////////////////////////////////////////////////////////// //
         public:
-            /**
-             * @brief Sets the \ref EmergencyStopState without updating the topic
-             * @param state The \ref EmergencyStopState to set
-             */
-            void setEmergencyStopStateNoReportToTopic(EmergencyStopState state);
             /**
              * @brief Teturns he \ref ControlThread's thread id
              * @return The \ref ControlThread's thread id
@@ -119,6 +114,13 @@ namespace armarx
             {
                 return controlThreadId;
             }
+        private:
+            /**
+             * @brief Sets the \ref EmergencyStopState without updating the topic.
+             * For use in \ref RobotUnitEmergencyStopMaster.
+             * @param state The \ref EmergencyStopState to set
+             */
+            void setEmergencyStopStateNoReportToTopic(EmergencyStopState state);
             // //////////////////////////////////////////////////////////////////////////////////////// //
             // ///////////////////////////////////// rt interface ///////////////////////////////////// //
             // //////////////////////////////////////////////////////////////////////////////////////// //
@@ -285,6 +287,15 @@ namespace armarx
             std::size_t usPerDevUntilWarn;
             /// @brief An Error will be printed, if the execution time per ControlDev of a NJointController exceeds this parameter
             std::size_t usPerDevUntilError;
+            // //////////////////////////////////////////////////////////////////////////////////////// //
+            // /////////////////////////////////////// Attorneys ////////////////////////////////////// //
+            // //////////////////////////////////////////////////////////////////////////////////////// //
+        private:
+            /**
+            * \brief This class allows minimal access to private members of \ref ControlThread in a sane fashion for \ref Publisher.
+            * \warning !! DO NOT ADD ADDITIONAL FRIENDS IF YOU DO NOT KNOW WAHT YOU ARE DOING! IF YOU DO SOMETHING WRONG YOU WILL CAUSE UNDEFINED BEHAVIOUR !!
+            */
+            friend class ControlThreadAttorneyForPublisher;
         };
     }
 }

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp

@@ -36,6 +36,26 @@
 
 #include "../RobotUnit.h"
 
+namespace armarx
+{
+    namespace RobotUnitModule
+    {
+        /**
+        * \brief This class allows minimal access to private members of \ref ControlThread in a sane fashion for \ref RobotUnitEmergencyStopMaster.
+        * \warning !! DO NOT ADD ADDITIONAL FRIENDS IF YOU DO NOT KNOW WAHT YOU ARE DOING! IF YOU DO SOMETHING WRONG YOU WILL CAUSE UNDEFINED BEHAVIOUR !!
+        */
+        class ControlThreadAttorneyForRobotUnitEmergencyStopMaster
+        {
+            friend class RobotUnitEmergencyStopMaster;
+            static void SetEmergencyStopStateNoReportToTopic(ControlThread* controlThreadModule, EmergencyStopState state)
+            {
+                controlThreadModule->setEmergencyStopStateNoReportToTopic(state);
+            }
+        };
+    }
+}
+
+
 namespace armarx
 {
     namespace RobotUnitModule
@@ -59,7 +79,7 @@ namespace armarx
                 {
                     return;
                 }
-                controlThreadModule->setEmergencyStopStateNoReportToTopic(state);
+                ControlThreadAttorneyForRobotUnitEmergencyStopMaster::SetEmergencyStopStateNoReportToTopic(controlThreadModule, state);
                 emergencyStopTopic->reportEmergencyStopState(state);
             }
             virtual EmergencyStopState getEmergencyStopState(const Ice::Current& = GlobalIceCurrent) const final