Draft: Make RobotStateMemory ready

Goal:

• Make stable (especially race conditions)
• Improve runtime
• Add profiling/monitoring
• Refactor code
• Add missing interfaces

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