add a get_State() func

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager.h b/modules/devices/robot/trajectory_manager/trajectory_manager.h
index 3e2250239bfaaa3ca125a1d45c0da94b20c3d688..7cab78569b2fb2fc6cef8cda196d67e1208b3ec5 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager.h
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager.h
@@ -149,6 +149,11 @@ void trajectory_set_windows(struct trajectory *traj, double d_win,
  */
 void trajectory_set_circle_coef(struct trajectory *traj, double coef);
 
+/**
+ * return trajectory state
+ */
+enum trajectory_state trajectory_get_state(struct trajectory *traj);
+
 /** return true if the position consign is equal to the filtered
  * position consign (after quadramp filter), for angle and
  * distance. */

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_utils.c b/modules/devices/robot/trajectory_manager/trajectory_manager_utils.c
index c48b5925fa1397f583c5ed823c9899e7fefecf29..5ec5755bca5cd9ec20330d32d9c3cad20cf6b719 100644 (file)
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_utils.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_utils.c
@@ -155,6 +155,11 @@ uint8_t is_robot_in_angle_window(struct trajectory *traj, double a_win_rad)
        return ABS(a) < a_win_rad;
 }
 
+enum trajectory_state trajectory_get_state(struct trajectory *traj)
+{
+       return traj->state;
+}
+
 /* distance unit conversions */
 
 double pos_mm2imp(struct trajectory *traj, double pos)