PrimaryClient: Add methods to unlock protective stop and stop the program #292
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urfeex
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I moved the test modification to an own PR #293. Let's merge that first. |
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src/primary/primary_client.cpp
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| void PrimaryClient::commandStop(const bool already_stopped_ok, const bool validate, |
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I am not sure that it is obvious what the arguments mean. Special the 'validate', another name suggestion could be "blocking"
I would be fine with that but then I would update that in all methods.
In addition, the functionality of already_stopped_ok might be challeging with a program that finish within 100ms inteval that the primary interface is updating the with. An example of this could be a small program setting an output.
Isn't that exactly an example of why we need such a flag?
We could maybe consider using enum for "modes"
Which modes are you referring to?
urfeex
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| std::shared_ptr<RobotModeData> robot_mode_data = consumer_->getRobotModeData(); | ||
| if (robot_mode_data == nullptr) | ||
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| return false; |
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I kind of more expecting an exception to be thrown here!
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Add functionalities to stop the running program and to unlock a protective stop through the primary client.