From 930d158f4d24712e23ffe3573a91c503e6277cf5 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 2 Jun 2021 17:42:31 +0200
Subject: [PATCH] termination condition + doxy comment
---
.../RobotUnitComponentPlugin.cpp | 4 ++--
.../RobotUnitComponentPlugin.h | 12 +++++++++++-
2 files changed, 13 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
index b669bf0db..7d32ae794 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
+++ b/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));
}
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
index 5b8369776..63d78de7d 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
+++ b/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:
--
GitLab