Add function of plugin user to plugin

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp

@@ -116,6 +116,19 @@ namespace armarx::plugins
     }
 
 
+    void RobotUnitComponentPlugin::waitUntilRobotUnitIsRunning(const std::function<bool ()>& termCond) const
+    {
+        ARMARX_INFO << "Waiting until robot unit is running ...";
+
+        while (not(termCond() or not isNullptr(getRobotUnit()) or getRobotUnit()->isRunning()))
+        {
+            std::this_thread::sleep_for(std::chrono::milliseconds(100));
+        }
+
+        ARMARX_INFO << "Robot unit is up and running.";
+    }
+
+
 
 
 }  // namespace armarx::plugins

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h

@@ -34,6 +34,19 @@ namespace armarx
 
             }
 
+            /**
+             * @brief Waits until the robot unit is running.
+             *
+             * Although the robot unit proxy might be initialized (\see getRobotUnit()), the robot unit might
+             * not be fully initialized.
+             *
+             * @param termCond Termination condition.
+             *      If it evaluates to true, waitUntilRobotUnitIsRunning returns without waiting
+             *      for the robot unit to become available.
+             */
+            void waitUntilRobotUnitIsRunning(const std::function<bool()>& termCond = [] {return false;}) const;
+
+
 
             //controllers
         public: