Minor changes in the get_device() function to avoid multiple instances of a...

Minor changes in the get_device() function to avoid multiple instances of a single dynamixel device.

src/dynamixelserver.cpp

@@ -269,7 +269,15 @@ CDynamixel *CDynamixelServer::get_device(int dev_id)
   {
     for(i=0;i<this->devices.size();i++)
       if(this->devices[i]->get_id()==dev_id)
-        dynamixel=this->devices[i];
+      {
+        if(this->state==dyn_scan_done)
+          dynamixel=this->devices[i];
+        else
+        {
+          /* handle exceptions */
+          throw CDynamixelServerException(_HERE_,"Device has already been assigned.");
+        }
+      }
   }
   this->dynamixel_access.exit();
   if(dynamixel==NULL)