wait_for_task_termination: interface cleanup

src/application/ball/mp_t_ball.cc

@@ -73,11 +73,11 @@ void ball::configure_edp_force_sensor(bool configure_track, bool configure_postu
 	}
 
 	if ((configure_track) && (!configure_postument)) {
-		wait_for_task_termination(false, 1, lib::irp6ot_m::ROBOT_NAME.c_str());
+		wait_for_task_termination(false, lib::irp6ot_m::ROBOT_NAME);
 	} else if ((!configure_track) && (configure_postument)) {
-		wait_for_task_termination(false, 1, lib::irp6p_m::ROBOT_NAME.c_str());
+		wait_for_task_termination(false, lib::irp6p_m::ROBOT_NAME);
 	} else if ((configure_track) && (configure_postument)) {
-		wait_for_task_termination(false, 2, lib::irp6ot_m::ROBOT_NAME.c_str(), lib::irp6p_m::ROBOT_NAME.c_str());
+		wait_for_task_termination(false, {lib::irp6ot_m::ROBOT_NAME, lib::irp6p_m::ROBOT_NAME});
 	}
 }
 
@@ -90,7 +90,7 @@ void ball::main_task_algorithm(void)
 	//set_next_ecp_state(ecp_mp::generator::ECP_GEN_SMOOTH, (int) ecp_mp::task::ABSOLUTE, "src/application/ball/irp6ot_init.trj", 0, lib::irp6ot_m::ROBOT_NAME);
 	//set_next_ecp_state(ecp_mp::generator::ECP_GEN_SMOOTH, (int) ecp_mp::task::ABSOLUTE, "src/application/ball/irp6p_init.trj", 0, lib::irp6p_m::ROBOT_NAME);
 
-	wait_for_task_termination(false, 2, lib::irp6ot_m::ROBOT_NAME.c_str(), lib::irp6p_m::ROBOT_NAME.c_str());
+	wait_for_task_termination(false, {lib::irp6ot_m::ROBOT_NAME, lib::irp6p_m::ROBOT_NAME});
 
 	sr_ecp_msg->message("New series");
 	// wlaczenie generatora do konfiguracji czujnika w EDP w obydwu robotach

src/application/bclikeregions/bclike_mp_i.cc

@@ -66,7 +66,7 @@ void bclike_mp_i::main_task_algorithm(void){
 
 	set_next_ecp_state (ecp_mp::task::ECP_ST_POSITION_MOVE, 0, tab, lib::ECP_2_MP_STRING_SIZE, actual_robot);
 	sr_ecp_msg->message("MOVE left");
-	wait_for_task_termination(false, 1,  actual_robot.c_str());
+	wait_for_task_termination(false, actual_robot);
 
 	//Setup end position
 	vec.clear();
@@ -76,7 +76,7 @@ void bclike_mp_i::main_task_algorithm(void){
 	//Start moving
 	set_next_ecp_state (ecp_mp::task::ECP_ST_SCAN_MOVE, 0, tab, lib::ECP_2_MP_STRING_SIZE, actual_robot);
 	sr_ecp_msg->message("MOVE right");
-	wait_for_task_termination(false, 1,  actual_robot.c_str());
+	wait_for_task_termination(false, actual_robot);
 
 
 	std::vector<std::pair<ecp::common::task::mrrocpp_regions, bool> >::iterator it;
@@ -97,18 +97,18 @@ void bclike_mp_i::main_task_algorithm(void){
 				//Go to code
 				tmp = msg.robotPositionToString(vec);
 				set_next_ecp_state (ecp_mp::task::ECP_ST_POSITION_MOVE, 0, tmp, lib::ECP_2_MP_STRING_SIZE, actual_robot);
-				wait_for_task_termination(false, 1,  actual_robot.c_str());
+				wait_for_task_termination(false, actual_robot);
 
 				//Get back to previous position
 				tmp = msg.robotPositionToString(pos);
 				set_next_ecp_state (ecp_mp::task::ECP_ST_POSITION_MOVE, 0, tmp, lib::ECP_2_MP_STRING_SIZE, actual_robot);
-				wait_for_task_termination(false, 1,  actual_robot.c_str());
+				wait_for_task_termination(false, actual_robot);
 			}
 		}
 
 		set_next_ecp_state (ecp_mp::task::ECP_ST_SCAN_MOVE, 0, tab, lib::ECP_2_MP_STRING_SIZE, actual_robot);
 		sr_ecp_msg->message("MOVE right");
-		wait_for_task_termination(false, 1, actual_robot.c_str());
+		wait_for_task_termination(false, actual_robot);
 	}
 
 	sr_ecp_msg->message("KONIEC");

src/application/bclikeregions/bclike_mp_test.cc

@@ -64,7 +64,7 @@ void bclike_mp_test::main_task_algorithm(void){
 
 	set_next_ecp_state (ecp_mp::task::ECP_ST_POSITION_MOVE, 0, tab, lib::ECP_2_MP_STRING_SIZE, actual_robot);
 	sr_ecp_msg->message("MOVE left");
-	wait_for_task_termination(false, 1, actual_robot.c_str());
+	wait_for_task_termination(false, actual_robot);
 
 
 	int i = 0;
@@ -97,7 +97,7 @@ void bclike_mp_test::main_task_algorithm(void){
 		i = i % 3;
 
 		set_next_ecp_state (ecp_mp::task::ECP_ST_POSITION_MOVE, 0, tab, lib::ECP_2_MP_STRING_SIZE, actual_robot);
-		wait_for_task_termination(false, 1, actual_robot.c_str());
+		wait_for_task_termination(false, actual_robot);
 
 		sr_ecp_msg->message("MP end loop");
 

src/application/bclikeregions/bclike_mp_ui.cc

@@ -65,7 +65,7 @@ void bclike_mp_ui::main_task_algorithm(void){
 
 	set_next_ecp_state (ecp_mp::task::ECP_ST_POSITION_MOVE, 0, tab, lib::ECP_2_MP_STRING_SIZE, actual_robot);
 	sr_ecp_msg->message("MOVE left");
-	wait_for_task_termination(false, 1, actual_robot.c_str());
+	wait_for_task_termination(false, actual_robot);
 
 	//Setup end position
 	vec.clear();
@@ -75,7 +75,7 @@ void bclike_mp_ui::main_task_algorithm(void){
 	//Start moving
 	set_next_ecp_state (ecp_mp::task::ECP_ST_SCAN_MOVE, 0, tab, lib::ECP_2_MP_STRING_SIZE, 1, actual_robot.c_str());
 	sr_ecp_msg->message("MOVE right");
-	wait_for_task_termination(false, 1, actual_robot.c_str());
+	wait_for_task_termination(false, actual_robot);
 
 
 	while(strcmp(robot_m[actual_robot]->ecp_reply_package.recognized_command, "KONIEC") != 0){
@@ -86,7 +86,7 @@ void bclike_mp_ui::main_task_algorithm(void){
 
 		set_next_ecp_state (ecp_mp::task::ECP_ST_SCAN_MOVE, 0, tab, lib::ECP_2_MP_STRING_SIZE, 1, actual_robot.c_str());
 		sr_ecp_msg->message("MOVE right");
-		wait_for_task_termination(false, 1, actual_robot.c_str());
+		wait_for_task_termination(false, actual_robot);
 	}
 	sr_ecp_msg->message("KONIEC RUCHU");
 	std::vector<std::pair<ecp::common::task::mrrocpp_regions, bool> >::iterator it;
@@ -105,7 +105,7 @@ void bclike_mp_ui::main_task_algorithm(void){
 			//Move to code position
 			tmp = msg.robotPositionToString(vec);
 			set_next_ecp_state (ecp_mp::task::ECP_ST_POSITION_MOVE, 0, tmp, lib::ECP_2_MP_STRING_SIZE, 1, actual_robot.c_str());
-			wait_for_task_termination(false, 1, actual_robot.c_str());
+			wait_for_task_termination(false, actual_robot);
 
 			//TODO: przelaczyc zadanie FrDIA
 			//TODO: wywolac subtaks Marcina

src/application/bird_hand_test/mp_t_bird_hand_test.cc

@@ -63,7 +63,7 @@ void bird_hand_test::main_task_algorithm(void)
 
 	set_next_ecp_state(ecp_mp::bird_hand::generator::ECP_GEN_BIRD_HAND_TEST, (int) 5, "", lib::bird_hand::ROBOT_NAME);
 	sr_ecp_msg->message("5");
-	wait_for_task_termination(false, 1, lib::bird_hand::ROBOT_NAME.c_str());
+	wait_for_task_termination(false, lib::bird_hand::ROBOT_NAME);
 
 	sr_ecp_msg->message("END");
 

src/application/block_move/mp_t_block_move.cc

@@ -56,13 +56,13 @@ void block_move::main_task_algorithm(void)
 
 	sr_ecp_msg->message("Start position for searching");
 	set_next_ecp_state(ecp_mp::sub_task::ECP_ST_SMOOTH_JOINT_FILE_FROM_MP, 5, "../../src/application/block_move/pos_search_area_start.trj", lib::irp6p_m::ROBOT_NAME);
-	wait_for_task_termination(false, 1, lib::irp6p_m::ROBOT_NAME.c_str());
+	wait_for_task_termination(false, lib::irp6p_m::ROBOT_NAME);
 
 	wait_ms(4000);
 
 	sr_ecp_msg->message("Final position for searching");
 	set_next_ecp_state(ecp_mp::sub_task::ECP_ST_SMOOTH_JOINT_FILE_FROM_MP, 5, "../../src/application/block_move/pos_search_area_final.trj", lib::irp6p_m::ROBOT_NAME);
-	wait_for_task_termination(false, 1, lib::irp6p_m::ROBOT_NAME.c_str());
+	wait_for_task_termination(false, lib::irp6p_m::ROBOT_NAME);
 
 	//Tutaj powinno być przekazanie parametru i dojście
 
@@ -74,7 +74,7 @@ void block_move::main_task_algorithm(void)
 
 	sr_ecp_msg->message("Reach the block");
 	set_next_ecp_state(ecp_mp::sub_task::ECP_ST_SMOOTH_ANGLE_AXIS_FILE_FROM_MP, 5, "../../src/application/block_move/block_reaching.trj", lib::irp6p_m::ROBOT_NAME);
-	wait_for_task_termination(false, 1, lib::irp6p_m::ROBOT_NAME.c_str());
+	wait_for_task_termination(false, lib::irp6p_m::ROBOT_NAME);
 
 	//sr_ecp_msg->message("Zwarcie szczek");
 	//set_next_ecp_state();
@@ -84,35 +84,35 @@ void block_move::main_task_algorithm(void)
 
 	sr_ecp_msg->message("Get the block");
 	set_next_ecp_state(ecp_mp::sub_task::ECP_ST_SMOOTH_ANGLE_AXIS_FILE_FROM_MP, 5, "../../src/application/block_move/up_to_p0.trj", lib::irp6p_m::ROBOT_NAME);
-	wait_for_task_termination(false, 1, lib::irp6p_m::ROBOT_NAME.c_str());
+	wait_for_task_termination(false, lib::irp6p_m::ROBOT_NAME);
 
 	wait_ms(4000);
 
 	sr_ecp_msg->message("Start position for building");
 	set_next_ecp_state(ecp_mp::sub_task::ECP_ST_SMOOTH_JOINT_FILE_FROM_MP, 5, "../../src/application/block_move/pos_build_start.trj", lib::irp6p_m::ROBOT_NAME);
-	wait_for_task_termination(false, 1, lib::irp6p_m::ROBOT_NAME.c_str());
+	wait_for_task_termination(false, lib::irp6p_m::ROBOT_NAME);
 
 	//Tutaj powinno byc przekazanie parametru i dojscie - ruch sklada sie z dwoch czesci
 
 	wait_ms(4000);
 
 	sr_ecp_msg->message("Put the block in its place");
 	set_next_ecp_state(ecp_mp::sub_task::ECP_ST_SMOOTH_ANGLE_AXIS_FILE_FROM_MP, 5, "../../src/application/block_move/build.trj", lib::irp6p_m::ROBOT_NAME);
-	wait_for_task_termination(false, 1, lib::irp6p_m::ROBOT_NAME.c_str());
+	wait_for_task_termination(false, lib::irp6p_m::ROBOT_NAME);
 
 	//sr_ecp_msg->message("Rozwarcie szczek");
 	//set_next_ecp_state(ecp_mp::sub_task::ECP_ST_GRIPPER_OPENING, 0, NULL, 0, lib::irp6p_tfg::ROBOT_NAME);
-	//wait_for_task_termination(false, 1, lib::irp6p_tfg::ROBOT_NAME.c_str());
+	//wait_for_task_termination(false, lib::irp6p_tfg::ROBOT_NAME);
 
 	//wait_ms(4000);
 
 	//sr_ecp_msg->message("Final position for building");
 	//set_next_ecp_state(ecp_mp::sub_task::ECP_ST_SMOOTH_ANGLE_AXIS_FILE_FROM_MP, 5, "../../src/application/block_move/pos_build_final.trj", 0, lib::irp6p_m::ROBOT_NAME);
-	//wait_for_task_termination(false, 1, lib::irp6p_m::ROBOT_NAME.c_str());
+	//wait_for_task_termination(false, lib::irp6p_m::ROBOT_NAME);
 
 	//sr_ecp_msg->message("Zwarcie szczek");
 	//set_next_ecp_state();
-	//wait_for_task_termination(false, 1, lib::irp6p_tfg::ROBOT_NAME.c_str());
+	//wait_for_task_termination(false, lib::irp6p_tfg::ROBOT_NAME);
 
 	wait_ms(4000);
 

src/application/edge_follow/mp_t_edge_follow_mr.cc

@@ -110,15 +110,15 @@ void edge_follow_mr::main_task_algorithm(void)
 	// sekwencja generator na wybranym manipulatorze
 	set_next_ecp_state(ecp_mp::generator::ECP_GEN_BIAS_EDP_FORCE, (int) 5, "", manipulator_name);
 
-	wait_for_task_termination(false, 1, manipulator_name.c_str());
+	wait_for_task_termination(false, manipulator_name);
 
 	set_next_ecp_state(ecp_mp::generator::ECP_GEN_TFF_NOSE_RUN, (int) 0, "", manipulator_name);
 
-	wait_for_task_termination(false, 1, manipulator_name.c_str());
+	wait_for_task_termination(false, manipulator_name);
 
 	set_next_ecp_state(ecp_mp::generator::EDGE_FOLLOW, (int) 0, "", manipulator_name);
 
-	wait_for_task_termination(false, 1, manipulator_name.c_str());
+	wait_for_task_termination(false, manipulator_name);
 
 	sr_ecp_msg->message("END");
 

src/application/generator_tester/mp_t_gen_test.cc

@@ -92,7 +92,7 @@ void gen_test::main_task_algorithm(void)
 		//------------------- SMOOTH GENERATOR -------------------
 		set_next_ecp_state(ecp_mp::sub_task::ECP_ST_SMOOTH_GEN_TEST, (int) 5, "", lib::irp6p_m::ROBOT_NAME);
 
-                wait_for_task_termination(false, 1, lib::irp6p_m::ROBOT_NAME.c_str());
+                wait_for_task_termination(false, lib::irp6p_m::ROBOT_NAME);
 		//------------------- SMOOTH GENERATOR END -------------------
 
                 //------------------- SPLINE GENERATOR -------------------

src/application/graspit/mp_t_birdhand_graspit.cc

@@ -146,11 +146,11 @@ void graspit::main_task_algorithm(void)
 
 	set_next_ecp_state(ecp_mp::task::ECP_GEN_BIRD_HAND, (int) 5, tmp_string1, gripper_name);
 
-	wait_for_task_termination(false, 1, gripper_name.c_str());
+	wait_for_task_termination(false, gripper_name);
 
 	set_next_ecp_state(ecp_mp::task::ECP_GEN_IRP6, (int) 5, tmp_string2, manipulator_name);
 
-	wait_for_task_termination(false, 1, manipulator_name.c_str());
+	wait_for_task_termination(false, manipulator_name);
 
 	//last IRp6 position from GraspI
 	for (int i = 0; i < 6; ++i)
@@ -181,11 +181,11 @@ void graspit::main_task_algorithm(void)
 
 	set_next_ecp_state(ecp_mp::task::ECP_GEN_IRP6, (int) 5, tmp_string2, manipulator_name);
 
-	wait_for_task_termination(false, 1, manipulator_name.c_str());
+	wait_for_task_termination(false, manipulator_name);
 
 	set_next_ecp_state(ecp_mp::task::ECP_GEN_BIRD_HAND, (int) 5, tmp_string1, gripper_name);
 
-	wait_for_task_termination(false, 1, gripper_name.c_str());
+	wait_for_task_termination(false, gripper_name);
 
 	//debugging
 	//	std::stringstream ss(std::stringstream::in | std::stringstream::out);

src/application/graspit/mp_t_tfg_graspit.cc

@@ -144,11 +144,11 @@ void graspit::main_task_algorithm(void)
 
 	set_next_ecp_state(ecp_mp::generator::ECP_GEN_TFG, (int) 5, tmp_string1, gripper_name);
 
-	wait_for_task_termination(false, 1, gripper_name.c_str());
+	wait_for_task_termination(false, gripper_name);
 
 	set_next_ecp_state(ecp_mp::task::ECP_GEN_IRP6, (int) 5, tmp_string2, manipulator_name);
 
-	wait_for_task_termination(false, 1, manipulator_name.c_str());
+	wait_for_task_termination(false, manipulator_name);
 
 	for (int i = 0; i < 6; ++i)
 		mp_ecp_irp6_command.joint[i] = trgraspit->from_va.grasp_joint[i + 6];
@@ -159,11 +159,11 @@ void graspit::main_task_algorithm(void)
 
 	set_next_ecp_state(ecp_mp::task::ECP_GEN_IRP6, (int) 5, tmp_string2, manipulator_name);
 
-	wait_for_task_termination(false, 1, manipulator_name.c_str());
+	wait_for_task_termination(false, manipulator_name);
 
 	set_next_ecp_state(ecp_mp::generator::ECP_GEN_TFG, (int) 5, tmp_string1, gripper_name);
 
-	wait_for_task_termination(false, 1, gripper_name.c_str());
+	wait_for_task_termination(false, gripper_name);
 
 	std::stringstream ss(std::stringstream::in | std::stringstream::out);
 	for (int i = 6; i < 13; ++i)

src/application/haptic/mp_t_haptic.cc

@@ -58,11 +58,11 @@ void haptic::configure_edp_force_sensor(bool configure_track, bool configure_pos
 	}
 
 	if ((configure_track) && (!configure_postument)) {
-		wait_for_task_termination(false, 1, lib::irp6ot_m::ROBOT_NAME.c_str());
+		wait_for_task_termination(false, lib::irp6ot_m::ROBOT_NAME);
 	} else if ((!configure_track) && (configure_postument)) {
-		wait_for_task_termination(false, 1, lib::irp6p_m::ROBOT_NAME.c_str());
+		wait_for_task_termination(false, lib::irp6p_m::ROBOT_NAME);
 	} else if ((configure_track) && (configure_postument)) {
-		wait_for_task_termination(false, 2, lib::irp6ot_m::ROBOT_NAME.c_str(), lib::irp6p_m::ROBOT_NAME.c_str());
+		wait_for_task_termination(false, {lib::irp6ot_m::ROBOT_NAME, lib::irp6p_m::ROBOT_NAME});
 	}
 }
 

src/application/haptic_stiffness/mp_t_haptic_stiffness.cc

@@ -54,11 +54,11 @@ void haptic_stiffness::configure_edp_force_sensor(bool configure_track, bool con
 	}
 
 	if ((configure_track) && (!configure_postument)) {
-		wait_for_task_termination(false, 1, lib::irp6ot_m::ROBOT_NAME.c_str());
+		wait_for_task_termination(false, lib::irp6ot_m::ROBOT_NAME);
 	} else if ((!configure_track) && (configure_postument)) {
-		wait_for_task_termination(false, 1, lib::irp6p_m::ROBOT_NAME.c_str());
+		wait_for_task_termination(false, lib::irp6p_m::ROBOT_NAME);
 	} else if ((configure_track) && (configure_postument)) {
-		wait_for_task_termination(false, 2, lib::irp6ot_m::ROBOT_NAME.c_str(), lib::irp6p_m::ROBOT_NAME.c_str());
+		wait_for_task_termination(false, {lib::irp6ot_m::ROBOT_NAME, lib::irp6p_m::ROBOT_NAME});
 	}
 }
 

src/application/neuron/mp_t_neuron.cc

@@ -76,7 +76,7 @@ void neuron::main_task_algorithm(void)
 	sr_ecp_msg->message("Neuron task initialization");
 
 	set_next_ecp_state(ecp_mp::task::ECP_T_NEURON, 5, "", lib::irp6p_m::ROBOT_NAME);
-	wait_for_task_termination(false, 1, lib::irp6p_m::ROBOT_NAME.c_str());
+	wait_for_task_termination(false, lib::irp6p_m::ROBOT_NAME);
 
 	sr_ecp_msg->message("END");
 }

src/application/rcsc/ecp_t_rcsc.cc

@@ -7,17 +7,29 @@
 #include "base/lib/sr/srlib.h"
 #include "ecp_mp_t_rcsc.h"
 #include "subtask/ecp_st_smooth_file_from_mp.h"
+
+#include "ecp_t_rcsc.h"
+
+#include "generator/ecp/ecp_mp_g_newsmooth.h"
+#include "generator/ecp/ecp_mp_g_teach_in.h"
 #include "generator/ecp/tff_gripper_approach/ecp_mp_g_tff_gripper_approach.h"
+#include "generator/ecp/transparent/ecp_mp_g_transparent.h"
 #include "generator/ecp/tff_rubik_face_rotate/ecp_mp_g_tff_rubik_face_rotate.h"
 
-#include "ecp_t_rcsc.h"
+#include "generator/ecp/ecp_g_newsmooth.h"
 #include "generator/ecp/bias_edp_force/ecp_g_bias_edp_force.h"
 #include "generator/ecp/tff_nose_run/ecp_g_tff_nose_run.h"
 #include "generator/ecp/sleep/ecp_g_sleep.h"
-#include "generator/ecp/transparent/ecp_mp_g_transparent.h"
-#include "generator/ecp/ecp_mp_g_newsmooth.h"
-#include "generator/ecp/ecp_mp_g_teach_in.h"
+#include "generator/ecp/transparent/ecp_g_transparent.h"
+#include "generator/ecp/tff_rubik_face_rotate/ecp_g_tff_rubik_face_rotate.h"
+#include "generator/ecp/tff_gripper_approach/ecp_g_tff_gripper_approach.h"
 #include "generator/ecp/weight_measure/ecp_mp_g_weight_measure.h"
+#include "generator/ecp/weight_measure/ecp_g_weight_measure.h"
+
+#include "robot/irp6ot_m/ecp_r_irp6ot_m.h"
+#include "robot/irp6p_m/ecp_r_irp6p_m.h"
+
+#include "base/ecp/ecp_task.h"
 
 namespace mrrocpp {
 namespace ecp {
@@ -27,7 +39,6 @@ namespace task {
 rcsc::rcsc(lib::configurator &_config) :
 		common::task::task(_config)
 {
-
 	// the robot is choose dependently on the section of configuration file sent as argv[4]
 	if (config.robot_name == lib::irp6ot_m::ROBOT_NAME) {
 		ecp_m_robot = (boost::shared_ptr <robot_t>) new irp6ot_m::robot(*this);
@@ -43,11 +54,7 @@ rcsc::rcsc(lib::configurator &_config) :
 	register_generator(new generator::bias_edp_force(*this));
 	register_generator(new generator::tff_gripper_approach(*this, 8));
 	register_generator(new generator::tff_rubik_face_rotate(*this, 8));
-	{
-		common::generator::tff_nose_run *ecp_gen = new common::generator::tff_nose_run(*this, 8);
-		register_generator(ecp_gen);
-	}
-
+	register_generator(new common::generator::tff_nose_run(*this, 8));
 	register_generator(new generator::weight_measure(*this, 1));
 
 	register_subtask(new sub_task::sub_task_smooth_file_from_mp(*this, lib::ECP_JOINT, ecp_mp::sub_task::ECP_ST_SMOOTH_JOINT_FILE_FROM_MP, true));
@@ -56,11 +63,6 @@ rcsc::rcsc(lib::configurator &_config) :
 	sr_ecp_msg->message("ecp loaded");
 }
 
-rcsc::~rcsc()
-{
-
-}
-
 }
 } // namespace irp6ot
 
@@ -76,4 +78,3 @@ task_base* return_created_ecp_task(lib::configurator &_config)
 } // namespace common
 } // namespace ecp
 } // namespace mrrocpp
-