termination condition + doxy comment

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp

@@ -137,11 +137,11 @@ namespace armarx
         return *plugin;
     }
 
-    void RobotUnitComponentPluginUser::waitUntilRobotUnitIsRunning() const
+    void RobotUnitComponentPluginUser::waitUntilRobotUnitIsRunning(const std::function<bool()>& termCond) const
     {
         ARMARX_INFO << "Waiting until robot unit is running ...";
 
-        while ((isNullptr(getRobotUnit()) or (not getRobotUnit()->isRunning())))
+        while ((not termCond()) and ((isNullptr(getRobotUnit()) or (not getRobotUnit()->isRunning()))))
         {
             std::this_thread::sleep_for(std::chrono::milliseconds(100));
         }

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h

@@ -80,7 +80,17 @@ namespace armarx
         RobotUnitComponentPluginUser();
 
         RobotUnitInterfacePrx getRobotUnit() const;
-        void waitUntilRobotUnitIsRunning() const;
+
+        /**
+         * @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;
 
         plugins::RobotUnitComponentPlugin& getRobotUnitComponentPlugin();
     private: