add emergency stop to gamepad

source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp

@@ -26,6 +26,8 @@
 
 
 
+
+
 namespace armarx
 {
     void GamepadControlUnit::onInitComponent()
@@ -33,12 +35,14 @@ namespace armarx
         ARMARX_INFO << "oninit GamepadControlUnit";
         usingProxy(getProperty<std::string>("PlatformUnitName").getValue());
         usingTopic(getProperty<std::string>("GamepadTopicName").getValue());
-
+        usingProxy("EmergencyStopMaster");
 
         scaleX = getProperty<float>("ScaleX").getValue();
         scaleY = getProperty<float>("ScaleY").getValue();
         scaleRotation = getProperty<float>("ScaleAngle").getValue();
         ARMARX_INFO << "oninit GamepadControlUnit end";
+
+
     }
 
 
@@ -46,6 +50,7 @@ namespace armarx
     {
         ARMARX_INFO << "onConnect GamepadControlUnit";
         platformUnitPrx = getProxy<PlatformUnitInterfacePrx>(getProperty<std::string>("PlatformUnitName").getValue());
+        emergencyStop = getProxy<EmergencyStopMasterInterfacePrx>("EmergencyStopMaster");
     }
 
 
@@ -68,6 +73,10 @@ namespace armarx
 
     void GamepadControlUnit::reportGamepadState(const std::string& device, const std::string& name, const GamepadData& data, const TimestampBasePtr& timestamp, const Ice::Current& c)
     {
+        if (data.leftTrigger)
+        {
+            emergencyStop->setEmergencyStopState(EmergencyStopState::eEmergencyStopActive);
+        }
         //scales are for the robot axis
         if (data.rightTrigger > 0)
         {

source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h

@@ -24,6 +24,7 @@
 
 
 #include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/interface/components/EmergencyStopInterface.h>
 
 #include <RobotAPI/interface/units/GamepadUnit.h>
 
@@ -105,6 +106,7 @@ namespace armarx
         float scaleX;
         float scaleY;
         float scaleRotation;
+        EmergencyStopMasterInterfacePrx emergencyStop;
 
     public:
         void reportGamepadState(const std::string& device, const std::string& name, const GamepadData& data,