fix: open stream in PREOP

Author: robert-burger

src/esl.cpp

@@ -203,8 +203,8 @@ esl::esl(const std::string& name, const YAML::Node& node) :
     dev_stream_name = get_as<string>(node, "dev_stream");
 } 
 
-//! State transition from SAFEOP to PREOP
-void esl::set_state_safeop_2_preop() {
+//! State transition from PREOP to INIT
+void esl::set_state_preop_2_init() {
     stop();
 
     for (int i = 0; i < port_count; ++i) {
@@ -213,8 +213,8 @@ void esl::set_state_safeop_2_preop() {
     }
 }
 
-//! State transition from PREOP to SAFEOP
-void esl::set_state_preop_2_safeop() {
+//! State transition from INIT to PREOP
+void esl::set_state_init_2_preop() {
     dev_stream = robotkernel::get_device<stream>(dev_stream_name);
 
     for (int i = 0; i < port_count; ++i) {

src/esl.h

@@ -140,11 +140,11 @@ class esl :
         //! destruction 
         ~esl() {};
 
-        //! State transition from SAFEOP to PREOP
-        virtual void set_state_safeop_2_preop() override;
+        //! State transition from PREOP to INIT
+        virtual void set_state_preop_2_init() override;
 
-        //! State transition from PREOP to SAFEOP
-        virtual void set_state_preop_2_safeop() override;
+        //! State transition from INIT to PREOP
+        virtual void set_state_init_2_preop() override;
 
         //! send data 
         /*!