KITHandUnit: fixes timing problem when sending commands too fast, fixes...

KITHandUnit: fixes timing problem when sending commands too fast, fixes shutdown from scenarioManager and shutdown for lost device

source/RobotAPI/components/KITHandUnit/KITHandUnit.cpp

@@ -62,7 +62,6 @@ namespace armarx
         addShapeName("G7");
         addShapeName("G8");
 
-        //        KITHand::INIT_LOG
         _driver = std::make_unique<KITHandCommunicationDriver>();
         _driver->registerConnectionStateChangedCallback(std::bind(&KITHandUnit::connectionStateChangedCallback, this, std::placeholders::_1));
     }
@@ -87,6 +86,7 @@ namespace armarx
                     {
                         std::this_thread::sleep_for(std::chrono::milliseconds(100));
                     }
+                    found = true;
 
                     //gui
                     createOrUpdateRemoteGuiTab(buildGui(), [this](RemoteGui::TabProxy & prx)
@@ -163,6 +163,7 @@ namespace armarx
             {
                 ARMARX_WARNING << "Invalid HandJointName '" << pair.first << "', ignoring.";
             }
+            _driver->waitForCommunicationMedium();
         }
     }
 
@@ -198,7 +199,6 @@ namespace armarx
     {
         if (state == State::DeviceLost)
         {
-            _driver.reset();
             getArmarXManager()->asyncShutdown();
         }
     }

source/RobotAPI/components/KITHandUnit/KITHandUnit.h

@@ -82,7 +82,6 @@ namespace armarx
 
         void connectionStateChangedCallback(const KITHand::State state);
 
-
         RemoteGui::WidgetPtr buildGui();
         void processGui(RemoteGui::TabProxy& prx);