From a37d210189fc5b8d2d4ba99d828b87a3b42d68a1 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 2 Jun 2021 17:14:00 +0200
Subject: [PATCH] new method: waiting until robot unit is running
---
.../RobotUnitComponentPlugin.cpp | 20 ++++++++++++++++++-
.../RobotUnitComponentPlugin.h | 3 +++
2 files changed, 22 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
index 7c120b3cc..b669bf0db 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
@@ -1,4 +1,6 @@
#include "RobotUnitComponentPlugin.h"
+#include "ArmarXCore/util/CPPUtility/Pointer.h"
+#include <thread>
namespace armarx::plugins
{
@@ -112,7 +114,11 @@ namespace armarx::plugins
{
_deactivated = true;
}
-}
+
+
+
+
+} // namespace armarx::plugins
namespace armarx
{
@@ -130,6 +136,18 @@ namespace armarx
{
return *plugin;
}
+
+ void RobotUnitComponentPluginUser::waitUntilRobotUnitIsRunning() const
+ {
+ ARMARX_INFO << "Waiting until robot unit is running ...";
+
+ while ((isNullptr(getRobotUnit()) or (not getRobotUnit()->isRunning())))
+ {
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
+ }
+
+ ARMARX_INFO << "Robot unit is up and running.";
+ }
}
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
index 18616020e..5b8369776 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
@@ -78,7 +78,10 @@ namespace armarx
{
public:
RobotUnitComponentPluginUser();
+
RobotUnitInterfacePrx getRobotUnit() const;
+ void waitUntilRobotUnitIsRunning() const;
+
plugins::RobotUnitComponentPlugin& getRobotUnitComponentPlugin();
private:
armarx::plugins::RobotUnitComponentPlugin* plugin = nullptr;
--
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