Obbart/universal_robots_ros_driver
1
0
Fork 0
mirror of https://gitlab.com/obbart/universal_robots_ros_driver.git synced 2026-04-10 10:00:48 +02:00
Code Releases Activity

Clang-format run

Browse Source
This commit is contained in:
Simon Rasmussen
2017-07-09 02:54:49 +02:00
parent 577fcdbf98
commit 3a5fa23f6b
31 changed files with 343 additions and 343 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
src/ros/service_stopper.cpp
View File

@@ -5,10 +5,9 @@ ServiceStopper::ServiceStopper(std::vector<Service*> services)
, services_(services)
, last_state_(RobotState::Error)
{
//enable_all();
// enable_all();
}
bool ServiceStopper::enableCallback(std_srvs::EmptyRequest& req, std_srvs::EmptyResponse& resp)
{
notify_all(RobotState::Running);
@@ -17,10 +16,10 @@ bool ServiceStopper::enableCallback(std_srvs::EmptyRequest& req, std_srvs::Empty
void ServiceStopper::notify_all(RobotState state)
{
if(last_state_ == state)
if (last_state_ == state)
return;
for(auto const service : services_)
for (auto const service : services_)
{
service->onRobotStateChange(state);
}
@@ -30,15 +29,15 @@ void ServiceStopper::notify_all(RobotState state)
bool ServiceStopper::handle(SharedRobotModeData& data, bool error)
{
if(data.emergency_stopped)
if (data.emergency_stopped)
{
notify_all(RobotState::EmergencyStopped);
}
else if(data.protective_stopped)
else if (data.protective_stopped)
{
notify_all(RobotState::ProtectiveStopped);
}
else if(error)
else if (error)
{
notify_all(RobotState::Error);
}