From 9bd03706e357fc3fee0e00036c428d995080b1f8 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Sat, 21 Apr 2018 21:04:30 +0200
Subject: [PATCH] Add
RobotUnitModules::ControllerManagement::deactivateAndDeleteNJointController
(and memberversions for NJointController)
---
.../NJointControllers/NJointController.cpp | 4 ++
.../NJointControllers/NJointController.h | 1 +
.../RobotUnitModuleControllerManagement.cpp | 39 +++++++++++++++++-
.../RobotUnitModuleControllerManagement.h | 41 +++++++++++++++++++
.../units/RobotUnit/NJointController.ice | 1 +
.../units/RobotUnit/RobotUnitInterface.ice | 3 ++
6 files changed, 88 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp
index 3343f8233..ea7f0c928 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp
@@ -138,6 +138,10 @@ namespace armarx
{
robotUnit.deleteNJointController(this);
}
+ void NJointController::deactivateAndDeleteController(const Ice::Current&)
+ {
+ robotUnit.deactivateAndDeleteNJointController(this);
+ }
void NJointController::publish(const SensorAndControl& sac, const DebugDrawerInterfacePrx& draw, const DebugObserverInterfacePrx& observer)
{
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
index f754ae66b..51df48c40 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h
@@ -249,6 +249,7 @@ namespace armarx
void activateController(const Ice::Current& = GlobalIceCurrent) final override;
void deactivateController(const Ice::Current& = GlobalIceCurrent) final override;
void deleteController(const Ice::Current& = GlobalIceCurrent) final override;
+ void deactivateAndDeleteController(const Ice::Current& = GlobalIceCurrent) final override;
WidgetDescription::StringWidgetDictionary getFunctionDescriptions(const Ice::Current& = GlobalIceCurrent) const override;
void callDescribedFunction(const std::string&, const StringVariantBaseMap&, const Ice::Current& = GlobalIceCurrent) override;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
index 2f7a57cd9..593baca54 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
@@ -440,9 +440,46 @@ namespace armarx
}
}
+ void ControllerManagement::deactivateAndDeleteNJointController(const std::string &name, const Ice::Current &)
+ {
+ deactivateAndDeleteNJointControllers(getNJointControllersNotNull({name}));
+ }
+ void ControllerManagement::deactivateAndDeleteNJointControllers(const Ice::StringSeq &names, const Ice::Current &)
+ {
+ deactivateAndDeleteNJointControllers(getNJointControllersNotNull(names));
+ }
+ void ControllerManagement::deactivateAndDeleteNJointController(const NJointControllerPtr &ctrl)
+ {
+ deactivateAndDeleteNJointControllers({ctrl});
+ }
+ void ControllerManagement::deactivateAndDeleteNJointControllers(const std::vector<NJointControllerPtr>& ctrlsToDelVec)
+ {
+ auto guard = getGuard();
+ throwIfDevicesNotReady(__FUNCTION__);
+ if (ctrlsToDelVec.empty())
+ {
+ return;
+ }
+ deactivateNJointControllers(ctrlsToDelVec);
+ while(
+ std::any_of(
+ ctrlsToDelVec.begin(),
+ ctrlsToDelVec.end(),
+ [](const NJointControllerPtr& ctrl) {return ctrl->isControllerActive();}
+ )
+ )
+ {
+ if(isShuttingDown())
+ {
+ return;
+ }
+ std::this_thread::sleep_for(std::chrono::microseconds{100});
+ }
+ deleteNJointControllers(ctrlsToDelVec);
+ }
NJointControllerClassDescription ControllerManagement::getNJointControllerClassDescription(
- const std::string& className, const Ice::Current&) const
+ const std::string& className, const Ice::Current&) const
{
while (getRobotUnitState() == RobotUnitState::InitializingComponent || getRobotUnitState() == RobotUnitState::InitializingDevices)
{
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
index c0b3cdfe5..91300315a 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
@@ -209,6 +209,26 @@ namespace armarx
* @see deleteNJointController
*/
void deleteNJointControllers(const Ice::StringSeq& names, const Ice::Current&) override;
+ /**
+ * @brief Queues the given \ref NJointController for deletion and deactivates it if necessary.
+ * @param name The \ref NJointController to delete.
+ * @see removeNJointControllersToBeDeleted
+ * @see nJointControllersToBeDeleted
+ * @see deleteNJointController
+ * @see deleteNJointControllers
+ * @see deactivateAnddeleteNJointControllers
+ */
+ void deactivateAndDeleteNJointController(const std::string& name, const Ice::Current&) override;
+ /**
+ * @brief Queues the given \ref NJointController "NJointControllers" for deletion and deactivates them if necessary.
+ * @param names The \ref NJointController "NJointControllers" to delete.
+ * @see removeNJointControllersToBeDeleted
+ * @see nJointControllersToBeDeleted
+ * @see deleteNJointController
+ * @see deleteNJointControllers
+ * @see deactivateAnddeleteNJointController
+ */
+ void deactivateAndDeleteNJointControllers(const Ice::StringSeq& names, const Ice::Current&) override;
/**
* @brief Requests activation for the given \ref NJointController.
@@ -317,6 +337,27 @@ namespace armarx
* @see deleteNJointController
*/
void deleteNJointControllers(const std::vector<NJointControllerPtr>& ctrls);
+ /**
+ * @brief Queues the given \ref NJointController for deletion and deactivates it if necessary.
+ * @param ctrl The \ref NJointController to delete.
+ * @see removeNJointControllersToBeDeleted
+ * @see nJointControllersToBeDeleted
+ * @see deleteNJointController
+ * @see deleteNJointControllers
+ * @see deactivateAnddeleteNJointControllers
+ */
+ void deactivateAndDeleteNJointController(const NJointControllerPtr& ctrl);
+ /**
+ * @brief Queues the given \ref NJointController "NJointControllers" for deletion and deactivates them if necessary.
+ * @param ctrls The \ref NJointController "NJointControllers" to delete.
+ * @see removeNJointControllersToBeDeleted
+ * @see nJointControllersToBeDeleted
+ * @see deleteNJointController
+ * @see deleteNJointControllers
+ * @see deactivateAnddeleteNJointController
+ */
+ void deactivateAndDeleteNJointControllers(const std::vector<NJointControllerPtr>& ctrls);
+
/**
* @brief Requests activation for the given \ref NJointController.
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
index 0921d4d42..55cc87a1d 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
@@ -88,6 +88,7 @@ module armarx
void activateController();
void deactivateController();
void deleteController() throws LogicError;
+ void deactivateAndDeleteController() throws LogicError;
["cpp:const"] idempotent WidgetDescription::StringWidgetDictionary getFunctionDescriptions();
void callDescribedFunction(string fuinctionName, StringVariantBaseMap values) throws InvalidArgumentException;
diff --git a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
index f5906a1fc..406d8121b 100644
--- a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
@@ -200,6 +200,9 @@ module armarx
void deleteNJointController(string controllerInstanceName)throws InvalidArgumentException, LogicError;
void deleteNJointControllers(Ice::StringSeq controllerInstanceNames)throws InvalidArgumentException, LogicError;
+ void deactivateAndDeleteNJointController(string controllerInstanceName)throws InvalidArgumentException, LogicError;
+ void deactivateAndDeleteNJointControllers(Ice::StringSeq controllerInstanceNames)throws InvalidArgumentException, LogicError;
+
//loading libs
bool loadLibFromPath(string path);
bool loadLibFromPackage(string package, string libname);
--
GitLab