add empty StopRobot state

source/RobotAPI/statecharts/MotionControlGroup/CMakeLists.txt

@@ -20,6 +20,7 @@ set(SOURCES
 MotionControlGroupRemoteStateOfferer.cpp
 ./MoveJoints.cpp
 testing/testMoveJoints.cpp
+./StopRobot.cpp
 #@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
 )
 
@@ -27,6 +28,7 @@ set(HEADERS
 MotionControlGroupRemoteStateOfferer.h
 ./MoveJoints.h
 testing/testMoveJoints.h
+./StopRobot.h
 #@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
 )
 

source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroup.scgxml

@@ -4,5 +4,6 @@
 		<State filename="testMoveJoints.xml"/>
 	</Folder>
 	<State filename="MoveJoints.xml" visibility="public"/>
+	<State filename="StopRobot.xml"/>
 </StatechartGroup>
 

source/RobotAPI/statecharts/MotionControlGroup/StopRobot.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::MotionControlGroup
+ * @author     Manfred Kroehnert ( Manfred dot Kroehnert at kit dot edu )
+ * @date       2014
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#include "StopRobot.h"
+
+using namespace armarx;
+using namespace MotionControlGroup;
+
+// DO NOT EDIT NEXT LINE
+StopRobot::SubClassRegistry StopRobot::Registry(StopRobot::GetName(), &StopRobot::CreateInstance);
+
+
+
+StopRobot::StopRobot(XMLStateConstructorParams stateData) :
+    XMLStateTemplate < StopRobot > (stateData)
+{
+}
+
+void StopRobot::onEnter()
+{
+    // put your user code for the enter-point here
+    // execution time should be short (<100ms)
+}
+
+void StopRobot::run()
+{
+    // put your user code for the execution-phase here
+    // runs in seperate thread, thus can do complex operations
+    // should check constantly whether isRunningTaskStopped() returns true
+
+
+    while (!isRunningTaskStopped()) // stop run function if returning true
+    {
+        // do your calculations
+    }
+
+}
+
+void StopRobot::onBreak()
+{
+    // put your user code for the breaking point here
+    // execution time should be short (<100ms)
+}
+
+void StopRobot::onExit()
+{
+    // put your user code for the exit point here
+    // execution time should be short (<100ms)
+
+}
+
+// DO NOT EDIT NEXT FUNCTION
+std::string StopRobot::GetName()
+{
+    return "StopRobot";
+}
+
+// DO NOT EDIT NEXT FUNCTION
+XMLStateFactoryBasePtr StopRobot::CreateInstance(XMLStateConstructorParams stateData)
+{
+    return XMLStateFactoryBasePtr(new StopRobot(stateData));
+}
+

source/RobotAPI/statecharts/MotionControlGroup/StopRobot.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::MotionControlGroup
+ * @author     Manfred Kroehnert ( Manfred dot Kroehnert at kit dot edu )
+ * @date       2014
+ * @copyright  http://www.gnu.org/licenses/gpl.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_XMLUSERCODE_RobotAPI_MotionControlGroup_StopRobot_H
+#define _ARMARX_XMLUSERCODE_RobotAPI_MotionControlGroup_StopRobot_H
+
+#include <Core/statechart/xmlstates/XMLState.h>
+
+namespace armarx
+{
+    namespace MotionControlGroup
+    {
+        class StopRobot :
+            virtual public XMLStateTemplate < StopRobot > ,
+        public XMLStateFactoryBase
+        {
+        public:
+            StopRobot(XMLStateConstructorParams stateData);
+
+            // inherited from StateBase
+            void onEnter();
+            void run();
+            void onBreak();
+            void onExit();
+
+            // static functions for AbstractFactory Method
+            static std::string GetName();
+            static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
+            static SubClassRegistry Registry;
+
+            // DO NOT INSERT ANY CLASS MEMBERS,
+            // use stateparameters instead,
+            // if classmember are neccessary nonetheless, reset them in onEnter
+        };
+    }
+}
+
+#endif

source/RobotAPI/statecharts/MotionControlGroup/StopRobot.xml

+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.0" name="StopRobot" uuid="A88DB279-17A6-4776-A3C0-114B775609C9" width="800" height="600">
+	<InputParameters/>
+	<OutputParameters/>
+	<LocalParameters/>
+	<Substates/>
+	<Events/>
+	<Transitions/>
+</State>
+