From 4b0d8812d2305a50a898d5895d1a22e60bbc3486 Mon Sep 17 00:00:00 2001
From: Bert Willaert <bwillaert@pma-robot-lwr.(none)>
Date: Mon, 26 Nov 2012 15:29:13 +0100
Subject: [PATCH] sending events functionality updated

---
 naxes_motion_control/src/nAxesGeneratorPos.cpp |   19 ++++++++++++++-----
 naxes_motion_control/src/nAxesGeneratorPos.hpp |    8 ++++++--
 2 files changed, 20 insertions(+), 7 deletions(-)

diff --git a/naxes_motion_control/src/nAxesGeneratorPos.cpp b/naxes_motion_control/src/nAxesGeneratorPos.cpp
index 81f66dd..1eddad1 100644
--- a/naxes_motion_control/src/nAxesGeneratorPos.cpp
+++ b/naxes_motion_control/src/nAxesGeneratorPos.cpp
@@ -31,7 +31,12 @@ namespace motion_control
 
     nAxesGeneratorPos::nAxesGeneratorPos(const string& name)
       : TaskContext(name,PreOperational),
-	finished_event(name+"move_finished"), traj_finished_event(name+"traj_finished"), is_moving(false), isTrajMoving(false), trajIndex(0)
+	//stopped_event("e_"+name+"_stopped"), 
+	moving_event("e_"+name+"_moving"), 
+	configured_event("e_"+name+"_configured"),
+	move_finished_event("e_"+name+"_move_finished"), traj_finished_event("e_"+name+"_traj_finished"), 
+	
+	is_moving(false), isTrajMoving(false), trajIndex(0)
     {
         //Creating TaskContext
 
@@ -106,7 +111,7 @@ namespace motion_control
         p_d_port.setDataSample( p_d );
         v_d.velocities.assign(num_axes,0);
         v_d_port.setDataSample( v_d );
-        move_finished_port.setDataSample(finished_event);
+        move_finished_port.setDataSample(configured_event);
         return true;
     }
 
@@ -146,9 +151,10 @@ namespace motion_control
                 for (unsigned int i=0; i<num_axes; i++){
                     p_d.positions[i] = motion_profile[i].Pos( max_duration );
                     v_d.velocities[i] = motion_profile[i].Vel( max_duration );
-                    is_moving = false;
-                    move_finished_port.write(finished_event);
-                }
+              	}
+				is_moving = false;
+                move_finished_port.write(move_finished_event);
+				std::cout << " MOTION DONE " << std::endl;
                 if (isTrajMoving == true) {
                 	this->moveTraject();
                 }
@@ -157,10 +163,13 @@ namespace motion_control
                     p_d.positions[i] = motion_profile[i].Pos( time_passed );
                     v_d.velocities[i] = motion_profile[i].Vel( time_passed );
                 }
+				move_finished_port.write(moving_event);
             }
             p_d_port.write( p_d );
             v_d_port.write( v_d );
         }
+		//else
+			//move_finished_port.write(stopped_event);
     }
 
     void nAxesGeneratorPos::stopHook()
diff --git a/naxes_motion_control/src/nAxesGeneratorPos.hpp b/naxes_motion_control/src/nAxesGeneratorPos.hpp
index 585c2d3..50edbd8 100644
--- a/naxes_motion_control/src/nAxesGeneratorPos.hpp
+++ b/naxes_motion_control/src/nAxesGeneratorPos.hpp
@@ -148,7 +148,7 @@ namespace motion_control
         trajectory_msgs::JointTrajectory traject;
         bool isTrajMoving;
         unsigned int trajIndex;
-        std::string traj_finished_event;
+
 
 
     protected:
@@ -173,7 +173,11 @@ namespace motion_control
         double                                    max_duration;
 
         bool                                      is_moving;
-        std::string                               finished_event;
+        //std::string								stopped_event; 
+        std::string								moving_event; 
+        std::string								configured_event;        
+        std::string								move_finished_event;        
+		std::string                				traj_finished_event;
     protected:
         /// Vector with the maximum velocity of each axis
         std::vector<double>      v_max_prop;
-- 
1.7.4.1