Joint_Information SingleJoint::get_Joint_Info() {
Joint_Information ji;
ji.joint = joint_num_;
get_Position(ji.position);
get_Velocity(ji.velocity);
get_Current(ji.current);
get_Status(ji.status);
return ji;
}
void CHostProxy::ServiceState(DWORD dwState)
{
if(SERVICE_RUNNING == dwState)
{
ObjectLock lock(this);
m_bIsStopManually = false;
if( !m_dwHostCoreCookie )
{
Unlock();
_AttachToTransport();
Lock();
}
else
{
HostStatusEnum enStatus;
if(IsRPCError(get_Status(&enStatus)))
{
Unlock();
_DettachFromTransport();
_AttachToTransport();
Lock();
}
}
}
else if(SERVICE_STOPPED == dwState)
{
ObjectLock lock(this);
if(!m_bIsStopManually)
{
Unlock();
_DettachFromTransport();
Lock();
}
}
Fire_OnServiceStatus(dwState);
}
