From 3719cc126c5133a6465b856f7b53be101bc7659f Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Thu, 4 Jun 2020 08:55:06 +0200
Subject: [PATCH] Improve RobotStateComponentPlugin so it can be used in gui
plugins
---
.../RobotStateComponentPlugin.cpp | 21 +++++++++++++++++--
.../RobotStateComponentPlugin.h | 3 +++
2 files changed, 22 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp
index c54454585..3f28f11c8 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp
@@ -199,9 +199,14 @@ namespace armarx::plugins
void RobotStateComponentPlugin::preOnInitComponent()
{
+ if (!_robotStateComponent && _robotStateComponentName.empty())
+ {
+ parent<Component>().getProperty(_robotStateComponentName, makePropertyName(_propertyName));
+ }
+
if (!_robotStateComponent)
{
- parent<Component>().usingProxyFromProperty(makePropertyName(_propertyName));
+ parent<Component>().usingProxy(_robotStateComponentName);
}
}
@@ -209,7 +214,7 @@ namespace armarx::plugins
{
if (!_robotStateComponent)
{
- parent<Component>().getProxyFromProperty(_robotStateComponent, makePropertyName(_propertyName));
+ parent<Component>().getProxy(_robotStateComponent, _robotStateComponentName);
}
}
@@ -242,6 +247,18 @@ namespace armarx::plugins
ARMARX_CHECK_NOT_NULL(node) << "No tcp configured for the robot ";
return SimpleDiffIK::CalculateReachability(targets, initialJV, rns, node, params);
}
+
+ void RobotStateComponentPlugin::setRobotStateComponentName(const std::string& name)
+ {
+ ARMARX_CHECK_NOT_EMPTY(name);
+ ARMARX_CHECK_EMPTY(_robotStateComponentName);
+ _robotStateComponentName = name;
+ }
+
+ const std::string& RobotStateComponentPlugin::getRobotStateComponentName() const
+ {
+ return _robotStateComponentName;
+ }
}
namespace armarx
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h
index a338957d1..25ca57fff 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h
@@ -53,6 +53,8 @@ namespace armarx::plugins
struct RobotData;
using ComponentPlugin::ComponentPlugin;
+ void setRobotStateComponentName(const std::string& name);
+ const std::string& getRobotStateComponentName() const;
//get / add
public:
bool hasRobot(const std::string& id) const;
@@ -137,6 +139,7 @@ namespace armarx::plugins
//data
public:
static constexpr auto _propertyName = "RemoteStateComponentName";
+ std::string _robotStateComponentName;
RobotStateComponentInterfacePrx _robotStateComponent;
mutable std::recursive_mutex _robotsMutex;
std::map<std::string, RobotData> _robots;
--
GitLab