Reuse monitor object in subdevices

roboticslab-uc3m · Feb 25, 2018 · fef5657 · fef5657
1 parent dcbd1d6
commit fef5657
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Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/libraries/YarpPlugins/AmorCartesianControl/DeviceDriverImpl.cpp b/libraries/YarpPlugins/AmorCartesianControl/DeviceDriverImpl.cpp
@@ -102,9 +102,11 @@ bool roboticslab::AmorCartesianControl::open(yarp::os::Searchable& config)
         return false;
     }
 
-    cartesianDeviceOptions.put("device", "KdlSolver");
+    std::string solverStr = "KdlSolver";
+    cartesianDeviceOptions.put("device", solverStr);
     cartesianDeviceOptions.put("mins", yarp::os::Value::makeList(qMin.toString().c_str()));
     cartesianDeviceOptions.put("maxs", yarp::os::Value::makeList(qMax.toString().c_str()));
+    cartesianDeviceOptions.setMonitor(config.getMonitor(), solverStr.c_str());
 
     if (!cartesianDevice.open(cartesianDeviceOptions))
     {

diff --git a/libraries/YarpPlugins/BasicCartesianControl/DeviceDriverImpl.cpp b/libraries/YarpPlugins/BasicCartesianControl/DeviceDriverImpl.cpp
@@ -39,6 +39,7 @@ bool roboticslab::BasicCartesianControl::open(yarp::os::Searchable& config) {
     yarp::os::Property robotOptions;
     robotOptions.fromString( config.toString() );
     robotOptions.put("device",robotStr);
+    robotOptions.setMonitor(config.getMonitor(), robotStr.c_str());
     robotDevice.open(robotOptions);
     if( ! robotDevice.isValid() ) {
         CD_ERROR("robot device not valid: %s.\n",robotStr.c_str());
@@ -87,6 +88,7 @@ bool roboticslab::BasicCartesianControl::open(yarp::os::Searchable& config) {
     solverOptions.put("device",solverStr);
     solverOptions.put("mins", yarp::os::Value::makeList(qMin.toString().c_str()));
     solverOptions.put("maxs", yarp::os::Value::makeList(qMax.toString().c_str()));
+    solverOptions.setMonitor(config.getMonitor(), solverStr.c_str());
 
     solverDevice.open(solverOptions);
     if( ! solverDevice.isValid() ) {