From 400cee7361d827115497bc2b1b10ba8dc34a8afb Mon Sep 17 00:00:00 2001
From: Markus Grotz <Markus Grotz markus.grotz@kit.edu>
Date: Thu, 28 May 2020 16:02:44 +0200
Subject: [PATCH] add emergency stop to gamepad
---
.../GamepadControlUnit/GamepadControlUnit.cpp | 11 ++++++++++-
.../GamepadControlUnit/GamepadControlUnit.h | 2 ++
2 files changed, 12 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
index 57bd492d1..5c413bf4d 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
+++ b/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)
{
diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
index 2614a96ff..abdf77a77 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
+++ b/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,
--
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