From 00e41e609466b7f70ada45bbd34c74315b8457b8 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Wed, 3 Jun 2020 16:43:37 +0200
Subject: [PATCH] Clean up RobotUnitComponentPlugin
* make functions const
* allow to set the name of the robot unit (if it is set manually, the property is not read). This makes it possible to use the plugin from a gui
* clean up formatting
---
.../RobotUnitComponentPlugin.cpp | 59 +++++++++++--------
.../RobotUnitComponentPlugin.h | 9 ++-
2 files changed, 41 insertions(+), 27 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
index 383de616a..1e94a3958 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
@@ -1,53 +1,64 @@
#include "RobotUnitComponentPlugin.h"
-namespace armarx
+namespace armarx::plugins
{
- namespace plugins
+ void RobotUnitComponentPlugin::preOnInitComponent()
{
-
- void RobotUnitComponentPlugin::preOnInitComponent()
- {
- parent<Component>().usingProxyFromProperty(PROPERTY_NAME);
- }
-
- void RobotUnitComponentPlugin::preOnConnectComponent()
+ if (_robotUnitName.empty())
{
- parent<Component>().getProxyFromProperty(_robotUnit, PROPERTY_NAME);
+ parent<Component>().getProperty(_robotUnitName, PROPERTY_NAME);
}
+ parent<Component>().usingProxy(_robotUnitName);
+ }
- void RobotUnitComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
- {
- if (!properties->hasDefinition(PROPERTY_NAME))
- {
- properties->defineRequiredProperty<std::string>(
- PROPERTY_NAME,
- "Name of the RobotUnit");
- }
- }
+ void RobotUnitComponentPlugin::preOnConnectComponent()
+ {
+ parent<Component>().getProxy(_robotUnit, _robotUnitName);
+ }
- RobotUnitInterfacePrx RobotUnitComponentPlugin::getRobotUnit()
+ void RobotUnitComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+ {
+ if (!properties->hasDefinition(PROPERTY_NAME))
{
- return _robotUnit;
+ properties->defineRequiredProperty<std::string>(
+ PROPERTY_NAME,
+ "Name of the RobotUnit");
}
+ }
+ RobotUnitInterfacePrx RobotUnitComponentPlugin::getRobotUnit() const
+ {
+ return _robotUnit;
+ }
+ void RobotUnitComponentPlugin::setRobotUnitName(const std::string& name)
+ {
+ ARMARX_CHECK_NOT_EMPTY(name);
+ ARMARX_CHECK_EMPTY(_robotUnitName);
+ _robotUnitName = name;
+ }
+ const std::string& RobotUnitComponentPlugin::getRobotUnitName() const
+ {
+ return _robotUnitName;
}
}
namespace armarx
{
-
RobotUnitComponentPluginUser::RobotUnitComponentPluginUser()
{
addPlugin(plugin);
}
- RobotUnitInterfacePrx RobotUnitComponentPluginUser::getRobotUnit()
+ RobotUnitInterfacePrx RobotUnitComponentPluginUser::getRobotUnit() const
{
return plugin->getRobotUnit();
}
-
+ plugins::RobotUnitComponentPlugin& RobotUnitComponentPluginUser::getRobotUnitComponentPlugin()
+ {
+ return *plugin;
+ }
}
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
index 4dc53dcb9..b3cbf9a3b 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
@@ -20,11 +20,14 @@ namespace armarx
void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
- RobotUnitInterfacePrx getRobotUnit();
+ RobotUnitInterfacePrx getRobotUnit() const;
+ void setRobotUnitName(const std::string& name);
+ const std::string& getRobotUnitName() const;
private:
static constexpr const char* PROPERTY_NAME = "RobotUnitName";
RobotUnitInterfacePrx _robotUnit;
+ std::string _robotUnitName;
};
}
@@ -39,8 +42,8 @@ namespace armarx
{
public:
RobotUnitComponentPluginUser();
- RobotUnitInterfacePrx getRobotUnit();
-
+ RobotUnitInterfacePrx getRobotUnit() const;
+ plugins::RobotUnitComponentPlugin& getRobotUnitComponentPlugin();
private:
armarx::plugins::RobotUnitComponentPlugin* plugin = nullptr;
};
--
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