[yarprobotinterface] Add a "run" phase that does not accept actions

yarprobotinterface will be in this phase while the robot finishes startup actions and no interrupt has been received.
xubingyue · Feb 17, 2016 · a35dbc7 · a35dbc7
1 parent 238df36
commit a35dbc7
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Showing 4 changed files with 13 additions and 2 deletions.
diff --git a/src/yarprobotinterface/Module.cpp b/src/yarprobotinterface/Module.cpp
@@ -68,8 +68,9 @@ bool RobotInterface::Module::configure(yarp::os::ResourceFinder &rf)
     setName(mPriv->robot.portprefix().c_str());
 
     // Enter startup phase
-    if (!mPriv->robot.enterPhase(RobotInterface::ActionPhaseStartup)) {
-        yError() << "Error in" << ActionPhaseToString(RobotInterface::ActionPhaseStartup) << "phase... see previous messages for more info";
+    if (!mPriv->robot.enterPhase(RobotInterface::ActionPhaseStartup) ||
+        !mPriv->robot.enterPhase(RobotInterface::ActionPhaseRun)) {
+        yError() << "Error in" << ActionPhaseToString(mPriv->robot.currentPhase()) << "phase... see previous messages for more info";
         // stopModule() calls interruptModule() and then close()
         // internally. This ensure that interrupt1 phase actions
         // (i.e. detach) are performed before destroying the devices.

diff --git a/src/yarprobotinterface/Robot.cpp b/src/yarprobotinterface/Robot.cpp
@@ -487,6 +487,11 @@ bool RobotInterface::Robot::enterPhase(RobotInterface::ActionPhase phase)
         }
     }
 
+    // run phase does not accept actions
+    if (phase == ActionPhaseRun) {
+        return true;
+    }
+
     // Before starting any action we ensure that there are no other
     // threads running from prevoius phases.
     // In interrupt 2 and 3 and this is called by the interrupt callback,

diff --git a/src/yarprobotinterface/Types.cpp b/src/yarprobotinterface/Types.cpp
@@ -88,6 +88,8 @@ RobotInterface::ActionPhase RobotInterface::StringToActionPhase(const std::strin
 {
     if (!phase.compare("startup")) {
         return RobotInterface::ActionPhaseStartup;
+    } else if (!phase.compare("run")) {
+        return RobotInterface::ActionPhaseRun;
     } else if (!phase.compare("interrupt1")) {
         return RobotInterface::ActionPhaseInterrupt1;
     } else if (!phase.compare("interrupt2")) {
@@ -105,6 +107,8 @@ std::string RobotInterface::ActionPhaseToString(RobotInterface::ActionPhase acti
     switch (actionphase) {
     case RobotInterface::ActionPhaseStartup:
         return std::string("startup");
+    case RobotInterface::ActionPhaseRun:
+        return std::string("run");
     case RobotInterface::ActionPhaseInterrupt1:
         return std::string("interrupt1");
     case RobotInterface::ActionPhaseInterrupt2:

diff --git a/src/yarprobotinterface/Types.h b/src/yarprobotinterface/Types.h
@@ -37,6 +37,7 @@ enum ActionPhase
 {
     ActionPhaseUnknown = 0,
     ActionPhaseStartup,
+    ActionPhaseRun,
     ActionPhaseInterrupt1,
     ActionPhaseInterrupt2,
     ActionPhaseInterrupt3,