From 269834228216c6d86ad35ca610d9b87faf2f6de6 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Mon, 23 Apr 2018 11:20:30 +0200
Subject: [PATCH] Move loading the robot from
RobotUnitModule::RobotData::_preOnInitRobotUnit to
RobotUnitModule::RobotData::_initVirtualRobot and call this function in
RobotUnitModule::ModuleBase::onInitRobotUnit
Change other components to load the robot earlier
---
.../RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp | 1 +
.../RobotUnitModules/RobotUnitModuleControlThread.cpp | 2 +-
.../RobotUnitModules/RobotUnitModuleControlThread.h | 4 ++--
.../RobotUnitModuleControllerManagement.cpp | 2 +-
.../RobotUnitModules/RobotUnitModuleControllerManagement.h | 4 ++--
.../RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp | 4 +++-
.../RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h | 2 +-
.../RobotUnitModuleSelfCollisionChecker.cpp | 4 ----
.../RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h | 2 --
.../RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp | 6 +-----
.../units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h | 2 --
11 files changed, 12 insertions(+), 21 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp
index 354d1638d..94036a4dc 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleBase.cpp
@@ -116,6 +116,7 @@ namespace armarx
auto guard = getGuard();
throwIfStateIsNot(RobotUnitState::InitializingComponent, __FUNCTION__);
+ cast_to_and_call(::armarx::RobotUnitModule::RobotData, _initVirtualRobot(), true);
#define call_module_hook(Type) cast_to_and_call(::armarx::RobotUnitModule::Type, _preOnInitRobotUnit(), true)
for_each_module(call_module_hook)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
index 7434e8d61..08816b35a 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
@@ -506,7 +506,7 @@ namespace armarx
controlThreadId = std::this_thread::get_id();
}
- void ControlThread::_postOnInitRobotUnit()
+ void ControlThread::_preOnInitRobotUnit()
{
try
{
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h
index c732eb482..665f17f1c 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.h
@@ -61,8 +61,8 @@ namespace armarx
private:
///@see \ref ModuleBase::_preFinishControlThreadInitialization
void _preFinishControlThreadInitialization();
- ///@see \ref ModuleBase::_postOnInitRobotUnit
- void _postOnInitRobotUnit();
+ ///@see \ref ModuleBase::_preOnInitRobotUnit
+ void _preOnInitRobotUnit();
// //////////////////////////////////////////////////////////////////////////////////////// //
// ///////////////////////////////////// ice interface //////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
index 6d5e841a5..3b5e3bb28 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
@@ -677,7 +677,7 @@ namespace armarx
nJointControllers.clear();
}
- void ControllerManagement::_postOnInitRobotUnit()
+ void ControllerManagement::_preOnInitRobotUnit()
{
controllerCreateRobot = _module<RobotData>().cloneRobot();
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
index 91300315a..08d197d02 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.h
@@ -53,8 +53,8 @@ namespace armarx
// ///////////////////////////////// RobotUnitModule hooks //////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
private:
- /// @see ModuleBase::_postOnInitRobotUnit
- void _postOnInitRobotUnit();
+ /// @see ModuleBase::_preOnInitRobotUnit
+ void _preOnInitRobotUnit();
/// @see ModuleBase::_preFinishRunning
void _preFinishRunning();
/// @see ModuleBase::_postFinishRunning
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp
index dc91877a6..ab976c3e4 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp
@@ -74,8 +74,10 @@ namespace armarx
return clone;
}
- void armarx::RobotUnitModule::RobotData::_preOnInitRobotUnit()
+ void armarx::RobotUnitModule::RobotData::_initVirtualRobot()
{
+ std::lock_guard<std::mutex> guard {robotMutex};
+ ARMARX_CHECK_IS_NULL(robot);
robotNodeSetName = getProperty<std::string>("RobotNodeSetName").getValue();
robotProjectName = getProperty<std::string>("RobotFileNameProject").getValue();
robotFileName = getProperty<std::string>("RobotFileName").getValue();
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h
index 35a474f1e..ad3f31798 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h
@@ -76,7 +76,7 @@ namespace armarx
// //////////////////////////////////////////////////////////////////////////////////////// //
private:
/// @see ModuleBase::_preOnInitRobotUnit
- void _preOnInitRobotUnit();
+ void _initVirtualRobot();
// //////////////////////////////////////////////////////////////////////////////////////// //
// /////////////////////////////////// Module interface /////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
index 017015656..4c345629a 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
@@ -111,10 +111,6 @@ namespace armarx
}
}
setSelfCollisionAvoidanceFrequency(getProperty<float>("SelfCollisionCheckFrequency").getValue());
- }
-
- void SelfCollisionChecker::_postOnInitRobotUnit()
- {
setSelfCollisionAvoidanceDistance(getProperty<float>("MinSelfDistance").getValue());
}
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h
index 7645cf87e..2ac3d7d1d 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.h
@@ -82,8 +82,6 @@ namespace armarx
private:
/// @see ModuleBase::_preOnInitRobotUnit
void _preOnInitRobotUnit();
- /// @see ModuleBase::_postOnInitRobotUnit
- void _postOnInitRobotUnit();
/// @see ModuleBase::_postFinishControlThreadInitialization
void _postFinishControlThreadInitialization();
/// @see ModuleBase::_preFinishRunning
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
index 9a963cd85..8dd4ea34b 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
@@ -485,6 +485,7 @@ namespace armarx
void Units::_preOnInitRobotUnit()
{
+ unitCreateRobot = _module<RobotData>().cloneRobot();
ARMARX_DEBUG << "add emergency stop master";
{
emergencyStopMaster = new RobotUnitEmergencyStopMaster {&_module<ControlThread>(), getProperty<std::string>("EmergencyStopTopic").getValue()};
@@ -508,11 +509,6 @@ namespace armarx
ARMARX_DEBUG << "add emergency stop master...done!";
}
- void Units::_postOnInitRobotUnit()
- {
- unitCreateRobot = _module<RobotData>().cloneRobot();
- }
-
void Units::_postOnExitRobotUnit()
{
ARMARX_DEBUG << "remove EmergencyStopMaster";
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h
index 692f2aa43..f6667acfd 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h
@@ -109,8 +109,6 @@ namespace armarx
private:
/// @see ModuleBase::_preOnInitRobotUnit
void _preOnInitRobotUnit();
- /// @see ModuleBase::_postOnInitRobotUnit
- void _postOnInitRobotUnit();
/// @see ModuleBase::_icePropertiesInitialized
void _icePropertiesInitialized();
/// @see ModuleBase::_preFinishRunning
--
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