robotinopatch.patch

Index: lib/rec/robotino/com/c/Com.h
===================================================================
--- lib/rec/robotino/com/c/Com.h	(révision 553)
+++ lib/rec/robotino/com/c/Com.h	(copie de travail)
@@ -110,7 +110,16 @@
 @return Returns TRUE (1) if the communication is active. Returns FALSE (0) if the communication is inactive or if the given ComId is invalid.
 */
 DLLEXPORT BOOL Com_isConnected( ComId id );
+				/**
+				Wait until new sensor readings are available.
+				@param timeout The time in milliseconds after which this operation should timeout. If timeout is 0, this does
+				never timeout.
+				@return Returns true if new sensor readings became available while calling this function. Returns false if the operation
+				lasts for more than timeout milliseconds. Also returns false if the connection is closed (either by an error or by calling disconnect).
+				*/
+DLLEXPORT BOOL Com_waitForUpdate( ComId id );
 
+
 //to include all headers at this point is not nice but necessary for using this lib in Matlab
 //on the other hand you only need to include Com.h to get it all
 #include "rec/robotino/com/c/AnalogInput.h"
Index: lib/rec/robotino/com/c/Com.cpp
===================================================================
--- lib/rec/robotino/com/c/Com.cpp	(révision 553)
+++ lib/rec/robotino/com/c/Com.cpp	(copie de travail)
@@ -148,6 +148,20 @@
 	}
 }
 
+BOOL Com_waitForUpdate( ComId id )
+{
+	ComPtr com = getCom( id );
+
+	if( com )
+	{
+		return com->waitForUpdate();
+	}
+	else
+	{
+		return FALSE;
+	}
+}
+
 ComPtr getCom( ComId id )
 {
 	boost::mutex::scoped_lock lk( _comsMutex );