private void sendSafetyCommand() {
ISunriseRequestService requestService =
(ISunriseRequestService) (kukaController.getRequestService());
SSR ssr = SSRFactory.createSafetyCommandSSR(GMS_REFERENCING_COMMAND);
Message response = requestService.sendSynchronousSSR(ssr);
int result = response.getParamInt(0);
if (COMMAND_SUCCESSFUL != result) {
getLogger().warn("Command did not execute successfully, response = " + result);
}
}
public void initialize() {
kukaController = (Controller) getContext().getControllers().toArray()[0];
lbr_iiwa = (LBR) kukaController.getDevices().toArray()[0];
}
