From 88d7c53c4bd4893e8b2ea87fa950d4ce0f3ff0f4 Mon Sep 17 00:00:00 2001
From: Markus Swarowsky <markus.swarowsky@student.kit.edu>
Date: Fri, 17 Feb 2017 17:21:27 +0100
Subject: [PATCH] level 0 controller now getting the timestamps of the pdo
updates
---
source/RobotAPI/libraries/RobotRTControllers/LVL0Controller.h | 2 +-
source/RobotAPI/libraries/RobotRTControllers/RobotUnit.cpp | 4 ++--
source/RobotAPI/libraries/RobotRTControllers/RobotUnit.h | 2 +-
3 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotRTControllers/LVL0Controller.h b/source/RobotAPI/libraries/RobotRTControllers/LVL0Controller.h
index e27480702..51e0bbee1 100644
--- a/source/RobotAPI/libraries/RobotRTControllers/LVL0Controller.h
+++ b/source/RobotAPI/libraries/RobotRTControllers/LVL0Controller.h
@@ -30,7 +30,7 @@ namespace armarx
class LVL0ControllerBase
{
public:
- virtual void run() = 0;
+ virtual void run(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) = 0;
virtual JointTargetBase* getTarget() const = 0;
diff --git a/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.cpp b/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.cpp
index 4c5115cbd..4c0c61880 100644
--- a/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.cpp
+++ b/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.cpp
@@ -576,11 +576,11 @@ void armarx::RobotUnit::rtDeactivateAssignedLVL1Controller(std::size_t index)
}
}
-void armarx::RobotUnit::rtRunLVL0Controllers()
+void armarx::RobotUnit::rtRunLVL0Controllers(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration)
{
for (LVL0ControllerBase * lvl0 : rtGetActivatedLVL0Controllers())
{
- lvl0->run();
+ lvl0->run(sensorValuesTimestamp, timeSinceLastIteration);
}
}
diff --git a/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.h b/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.h
index a91b3d690..bf0b29c1c 100644
--- a/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.h
+++ b/source/RobotAPI/libraries/RobotRTControllers/RobotUnit.h
@@ -387,7 +387,7 @@ namespace armarx
bool rtSwitchSetup();
void rtRunLVL1Controllers(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
void rtDeactivateAssignedLVL1Controller(std::size_t index);
- void rtRunLVL0Controllers();
+ void rtRunLVL0Controllers(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration);
/**
* @brief Hook for switching the lvl0 controller (this changes the controll mode)
--
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