From 157672025a0161e8f76ffff1f354c6df44cc5d99 Mon Sep 17 00:00:00 2001
From: Armar6 <armar6@h2t.com>
Date: Tue, 30 Oct 2018 10:54:49 +0100
Subject: [PATCH] added SoftwareEmergencyStopState to additionalMap
---
.../RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
index a89501904..cedca2aeb 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
@@ -514,6 +514,11 @@ namespace armarx
additionalMap["haveActivatedControllersChanged"] = new TimedVariant {haveActivatedControllersChanged, lastControlThreadTimestamp};
additionalMap["haveSensorAndControlValsChanged"] = new TimedVariant {haveSensorAndControlValsChanged, lastControlThreadTimestamp};
additionalMap["publishToObserver" ] = new TimedVariant {publishToObserver, lastControlThreadTimestamp};
+ additionalMap["SoftwareEmergencyStopState" ] = new TimedVariant {_module<Units>().getEmergencyStopMaster()->getEmergencyStopState() == EmergencyStopState::eEmergencyStopActive ? "EmergencyStopActive" : "EmergencyStopInactive",
+ lastControlThreadTimestamp
+ };
+
+
//update
if (haveSensorAndControlValsChanged)
{
--
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