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update robot controller

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This commit is contained in:
linbo 2025-10-24 14:44:45 +08:00
parent 80424c86f1
commit 0720ec8171
5 changed files with 9 additions and 7 deletions
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2
src/devices/robot/controller/abstractcontroller.h
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@ -29,7 +29,7 @@ namespace cmvr::device
virtual void stop() = 0; virtual void stop() = 0;
private: protected:
ControllerState state_; ControllerState state_;
}; };
} }

3
src/devices/robot/controller/cartesiancontroller.cpp
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@ -14,7 +14,8 @@ CartesianController::CartesianController(const XmlNode& cfg):AbstractController(
void CartesianController::call(std::string json) void CartesianController::call(std::string json)
{ {
if (state_ != ControllerState_Idle)
return;
} }
void CartesianController::stop() void CartesianController::stop()
{ {

4
src/devices/robot/controller/cartesiancontroller.h
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@ -12,8 +12,8 @@ namespace cmvr::device
{ {
public: public:
explicit CartesianController(const XmlNode& cfg); explicit CartesianController(const XmlNode& cfg);
virtual void call(std::string json) override; void call(std::string json) override;
virtual void stop() override; void stop() override;
private: private:
}; };
} }

3
src/devices/robot/controller/jointpositioncontroller.cpp
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@ -13,7 +13,8 @@ JointPositionController::JointPositionController(const XmlNode& cfg):AbstractCon
void JointPositionController::call(std::string json) void JointPositionController::call(std::string json)
{ {
if (state_ != ControllerState_Idle)
return;
} }
void JointPositionController::stop() void JointPositionController::stop()
{ {

4
src/devices/robot/controller/jointpositioncontroller.h
View File

@ -12,8 +12,8 @@ namespace cmvr::device
{ {
public: public:
explicit JointPositionController(const XmlNode& cfg); explicit JointPositionController(const XmlNode& cfg);
virtual void call(std::string json) override; void call(std::string json) override;
virtual void stop() override; void stop() override;
private: private:
}; };
} }