From 81805e292667eccfb99d25402f45c67750871abf Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Wed, 4 Nov 2015 13:41:22 +0100
Subject: [PATCH] added isRequested to TCPControlUnit
---
source/RobotAPI/components/units/TCPControlUnit.cpp | 10 ++++++++--
source/RobotAPI/components/units/TCPControlUnit.h | 2 ++
source/RobotAPI/interface/units/TCPControlUnit.ice | 5 +++++
3 files changed, 15 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 8ddedde1f..19330a17f 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -87,7 +87,7 @@ namespace armarx
{
auto nodesets = localReportRobot->getRobotNodeSets();
- for (RobotNodeSetPtr& set : nodesets)
+ for (RobotNodeSetPtr & set : nodesets)
{
if (set->getTCP())
{
@@ -103,7 +103,7 @@ namespace armarx
boost::is_any_of(","),
boost::token_compress_on);
- for (auto& name : nodesetNames)
+ for (auto & name : nodesetNames)
{
auto node = localReportRobot->getRobotNode(name);
@@ -288,6 +288,12 @@ namespace armarx
}
+ bool TCPControlUnit::isRequested(const Ice::Current& c)
+ {
+ // no lock needed to read a single bool value.
+ return requested;
+ }
+
void TCPControlUnit::periodicExec()
{
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index 31ddf540c..efb111ea2 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -146,6 +146,8 @@ namespace armarx
*/
void release(const Ice::Current& c = Ice::Current());
+ bool isRequested(const Ice::Current& c = Ice::Current());
+
protected:
void onInitComponent();
diff --git a/source/RobotAPI/interface/units/TCPControlUnit.ice b/source/RobotAPI/interface/units/TCPControlUnit.ice
index 33117e380..238ba4978 100644
--- a/source/RobotAPI/interface/units/TCPControlUnit.ice
+++ b/source/RobotAPI/interface/units/TCPControlUnit.ice
@@ -53,6 +53,11 @@ module armarx
**/
void setTCPVelocity(string robotNodeSetName, string tcpNodeName, FramedDirectionBase translationVelocity, FramedDirectionBase orientationVelocityRPY);
+ /**
+ * @brief returns if the TCPControlUnit is requested.
+ * @return Request status.
+ */
+ bool isRequested();
};
/**
--
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