Those functions allow to get information about the execution of robot's commands and to control them if necessary.
Execute all pending robot commands.
Returns TRUE if the last command received by the leg has tried to move it out of its workspace. When a new correct command is received, this function returns FALSE.
Returns TRUE if all the gestures commanded in the previous time slice have been correctly executed. A gesture is not executable if it tries to move any leg out of its workspace.
Returns TRUE if all commands send to the robot in the previous time slice have been correctly executed or, in other words, if no leg has been blocked.
Returns TRUE when there is not any move_to command pending to be finished for the given leg.
This function aborts the commands (set_leg_position, set_position, set_angle, exec_gesture) pending to be executed for a given leg.
Avoid the execution of all pending robot commands as well as stops any on going command. This command not only step leg commands but also stops the commands send to the robot camera.