EmergencyStop.cpp

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * 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 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    ArmarXCore::ArmarXObjects::EmergencyStop
 * @author     Stefan Reither ( stef dot reither at web dot de )
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "EmergencyStop.h"
 
 
namespace armarx
{
    void EmergencyStopMaster::setEmergencyStopState(EmergencyStopState state, const ::Ice::Current&)
    {
        this->emergencyStopState = state;
        std::string s;
        switch (state)
        {
            case EmergencyStopState::eEmergencyStopActive :
                s = "eEmergencyStopActive";
                break;
            case EmergencyStopState::eEmergencyStopInactive :
                s = "eEmergencyStopInactive";
                break;
            default:
                s = "(Unknown)";
        }
 
        ARMARX_INFO_S << "Setting EmergencyStopState to " << s;
        this->emergencyStopTopic->reportEmergencyStopState(state);
    }
 
    EmergencyStopState EmergencyStopMaster::getEmergencyStopState(const ::Ice::Current&) const
    {
        return this->emergencyStopState;
    }
 
    void EmergencyStopMaster::onInitComponent()
    {
        armarx::ManagedIceObject::offeringTopic(getProperty<std::string>("EmergencyStopTopic").getValue());
    }
 
 
    void EmergencyStopMaster::onConnectComponent()
    {
        emergencyStopTopic = armarx::ManagedIceObject::getTopic<EmergencyStopListenerPrx>(getProperty<std::string>("EmergencyStopTopic").getValue());
 
        // Default state is inactive
        this->setEmergencyStopState(EmergencyStopState::eEmergencyStopInactive);
    }
 
    armarx::PropertyDefinitionsPtr EmergencyStopMaster::createPropertyDefinitions()
    {
        return armarx::PropertyDefinitionsPtr(new EmergencyStopPropertyMasterDefinitions(
                getConfigIdentifier()));
    }
}