From 87d6402ac977d59ea96c5be9e8aa9a45034f9b91 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Mon, 12 Jul 2021 09:30:12 +0200
Subject: [PATCH] Add function of plugin user to plugin
---
.../RobotUnitComponentPlugin.cpp | 13 +++++++++++++
.../RobotUnitComponentPlugin.h | 13 +++++++++++++
2 files changed, 26 insertions(+)
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
index 4e6e7966c..6647cf385 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
+++ b/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
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
index 80357a96e..4371934b9 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
+++ b/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:
--
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