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Merged
urfeex merged 2 commits into from
Jun 26, 2026
Merged

Enhance robot program state logging with clearer messages for running… #527

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74ab7f9
Enhance robot program state logging with clearer running messages
urrsk Jun 24, 2026
a6e098d
Update src/example_robot_wrapper.cpp
urrsk Jun 25, 2026
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6 changes: 4 additions & 2 deletions src/example_robot_wrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -232,16 +232,18 @@ bool ExampleRobotWrapper::initializeRobotWithPrimaryClient()

void ExampleRobotWrapper::handleRobotProgramState(bool program_running)
{
// Print the text in green so we see it better
std::cout << "\033[1;32mProgram running: " << std::boolalpha << program_running << "\033[0m\n" << std::endl;
if (program_running)
{
// Print the text in green so we see it better
std::cout << "\033[1;32mRobot control program is running and connected to the driver\033[0m\n" << std::endl;
std::lock_guard<std::mutex> lk(program_running_mutex_);
program_running_ = program_running;
program_running_cv_.notify_one();
}
else
{
// Print the text in yellow to indicate the robot is connected but the control program is not (yet) running
std::cout << "\033[1;33mRobot should be connected - Control program not running yet\033[0m\n" << std::endl;
std::lock_guard<std::mutex> lk(program_not_running_mutex_);
program_running_ = program_running;
program_not_running_cv_.notify_one();
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