Add...

Add RobotUnitModules::ControllerManagement::deactivateAndDeleteNJointController (and memberversions for NJointController)

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp

@@ -138,6 +138,10 @@ namespace armarx
     {
         robotUnit.deleteNJointController(this);
     }
+    void NJointController::deactivateAndDeleteController(const Ice::Current&)
+    {
+        robotUnit.deactivateAndDeleteNJointController(this);
+    }
 
     void NJointController::publish(const SensorAndControl& sac, const DebugDrawerInterfacePrx& draw, const DebugObserverInterfacePrx& observer)
     {

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h

@@ -249,6 +249,7 @@ namespace armarx
         void activateController(const Ice::Current& = GlobalIceCurrent) final override;
         void deactivateController(const Ice::Current& = GlobalIceCurrent) final override;
         void deleteController(const Ice::Current& = GlobalIceCurrent) final override;
+        void deactivateAndDeleteController(const Ice::Current& = GlobalIceCurrent) final override;
 
         WidgetDescription::StringWidgetDictionary getFunctionDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
         void callDescribedFunction(const std::string&, const StringVariantBaseMap&, const Ice::Current& = GlobalIceCurrent) override;

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp

@@ -440,9 +440,46 @@ namespace armarx
             }
         }
 
+        void ControllerManagement::deactivateAndDeleteNJointController(const std::string &name, const Ice::Current &)
+        {
+            deactivateAndDeleteNJointControllers(getNJointControllersNotNull({name}));
+        }
+        void ControllerManagement::deactivateAndDeleteNJointControllers(const Ice::StringSeq &names, const Ice::Current &)
+        {
+            deactivateAndDeleteNJointControllers(getNJointControllersNotNull(names));
+        }
+        void ControllerManagement::deactivateAndDeleteNJointController(const NJointControllerPtr &ctrl)
+        {
+            deactivateAndDeleteNJointControllers({ctrl});
+        }
+        void ControllerManagement::deactivateAndDeleteNJointControllers(const std::vector<NJointControllerPtr>& ctrlsToDelVec)
+        {
+            auto guard = getGuard();
+            throwIfDevicesNotReady(__FUNCTION__);
+            if (ctrlsToDelVec.empty())
+            {
+                return;
+            }
+            deactivateNJointControllers(ctrlsToDelVec);
+            while(
+                std::any_of(
+                    ctrlsToDelVec.begin(),
+                    ctrlsToDelVec.end(),
+                    [](const NJointControllerPtr& ctrl) {return ctrl->isControllerActive();}
+                )
+            )
+            {
+                if(isShuttingDown())
+                {
+                    return;
+                }
+                std::this_thread::sleep_for(std::chrono::microseconds{100});
+            }
+            deleteNJointControllers(ctrlsToDelVec);
+        }
 
         NJointControllerClassDescription ControllerManagement::getNJointControllerClassDescription(
-            const std::string& className, const Ice::Current&) const
+                const std::string& className, const Ice::Current&) const
         {
             while (getRobotUnitState() == RobotUnitState::InitializingComponent || getRobotUnitState() == RobotUnitState::InitializingDevices)
             {

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h

@@ -209,6 +209,26 @@ namespace armarx
              * @see deleteNJointController
              */
             void deleteNJointControllers(const Ice::StringSeq& names, const Ice::Current&) override;
+            /**
+             * @brief Queues the given \ref NJointController for deletion and deactivates it if necessary.
+             * @param name The \ref NJointController to delete.
+             * @see removeNJointControllersToBeDeleted
+             * @see nJointControllersToBeDeleted
+             * @see deleteNJointController
+             * @see deleteNJointControllers
+             * @see deactivateAnddeleteNJointControllers
+             */
+            void deactivateAndDeleteNJointController(const std::string& name, const Ice::Current&) override;
+            /**
+             * @brief Queues the given \ref NJointController "NJointControllers" for deletion and deactivates them if necessary.
+             * @param names The \ref NJointController "NJointControllers" to delete.
+             * @see removeNJointControllersToBeDeleted
+             * @see nJointControllersToBeDeleted
+             * @see deleteNJointController
+             * @see deleteNJointControllers
+             * @see deactivateAnddeleteNJointController
+             */
+            void deactivateAndDeleteNJointControllers(const Ice::StringSeq& names, const Ice::Current&) override;
 
             /**
              * @brief Requests activation for the given \ref NJointController.
@@ -317,6 +337,27 @@ namespace armarx
              * @see deleteNJointController
              */
             void deleteNJointControllers(const std::vector<NJointControllerPtr>& ctrls);
+            /**
+             * @brief Queues the given \ref NJointController for deletion and deactivates it if necessary.
+             * @param ctrl The \ref NJointController to delete.
+             * @see removeNJointControllersToBeDeleted
+             * @see nJointControllersToBeDeleted
+             * @see deleteNJointController
+             * @see deleteNJointControllers
+             * @see deactivateAnddeleteNJointControllers
+             */
+            void deactivateAndDeleteNJointController(const NJointControllerPtr& ctrl);
+            /**
+             * @brief Queues the given \ref NJointController "NJointControllers" for deletion and deactivates them if necessary.
+             * @param ctrls The \ref NJointController "NJointControllers" to delete.
+             * @see removeNJointControllersToBeDeleted
+             * @see nJointControllersToBeDeleted
+             * @see deleteNJointController
+             * @see deleteNJointControllers
+             * @see deactivateAnddeleteNJointController
+             */
+            void deactivateAndDeleteNJointControllers(const std::vector<NJointControllerPtr>& ctrls);
+
 
             /**
              * @brief Requests activation for the given \ref NJointController.

source/RobotAPI/interface/units/RobotUnit/NJointController.ice

@@ -88,6 +88,7 @@ module armarx
         void activateController();
         void deactivateController();
         void deleteController() throws LogicError;
+        void deactivateAndDeleteController() throws LogicError;
 
         ["cpp:const"] idempotent WidgetDescription::StringWidgetDictionary getFunctionDescriptions();
         void callDescribedFunction(string fuinctionName, StringVariantBaseMap values) throws InvalidArgumentException;

source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice

@@ -200,6 +200,9 @@ module armarx
             void deleteNJointController(string controllerInstanceName)throws InvalidArgumentException, LogicError;
             void deleteNJointControllers(Ice::StringSeq controllerInstanceNames)throws InvalidArgumentException, LogicError;
 
+            void deactivateAndDeleteNJointController(string controllerInstanceName)throws InvalidArgumentException, LogicError;
+            void deactivateAndDeleteNJointControllers(Ice::StringSeq controllerInstanceNames)throws InvalidArgumentException, LogicError;
+
             //loading libs
             bool loadLibFromPath(string path);
             bool loadLibFromPackage(string package, string libname);