PlatformUnit: partially reverting changes

source/RobotAPI/components/units/PlatformUnit.cpp

@@ -34,26 +34,30 @@ namespace armarx
 {
     PropertyDefinitionsPtr PlatformUnit::createPropertyDefinitions()
     {
-        armarx::PropertyDefinitionsPtr def = new ComponentPropertyDefinitions(getConfigIdentifier());
+        armarx::PropertyDefinitionsPtr def = new PlatformUnitPropertyDefinitions(getConfigIdentifier());
+
         def->topic(odometryPrx);
         def->topic(globalPosePrx);
 
-        // legacy
-        // defineOptionalProperty<std::string>("PlatformName", "Platform", "Name of the platform (will publish values on PlatformName + 'State')");
-        def->topic(listenerPrx, "PlatformState");
-
         return def;
     }
 
 
     void PlatformUnit::onInitComponent()
     {
+        std::string platformName = getProperty<std::string>("PlatformName").getValue();
+
+        listenerChannelName = platformName + "State";
+        offeringTopic(listenerChannelName);
+
         this->onInitPlatformUnit();
     }
 
 
     void PlatformUnit::onConnectComponent()
     {
+        listenerPrx = getTopic<PlatformUnitListenerPrx>(listenerChannelName);
+
         this->onStartPlatformUnit();
     }
 

source/RobotAPI/components/units/PlatformUnit.h

@@ -36,6 +36,21 @@
 namespace armarx
 {
 
+    /**
+     * \class PlatformUnitPropertyDefinitions
+     * \brief Defines all necessary properties for armarx::PlatformUnit
+     */
+    class PlatformUnitPropertyDefinitions:
+        public ComponentPropertyDefinitions
+    {
+    public:
+        PlatformUnitPropertyDefinitions(std::string prefix):
+            ComponentPropertyDefinitions(prefix)
+        {
+            defineOptionalProperty<std::string>("PlatformName", "Platform", "Name of the platform (will publish values on PlatformName + 'State')");
+        }
+    };
+
 
     /**
      * \defgroup Component-PlatformUnit PlatformUnit
@@ -100,6 +115,8 @@ namespace armarx
         PropertyDefinitionsPtr createPropertyDefinitions() override;
 
     protected:
+
+        std::string listenerChannelName;
         /**
          * PlatformUnitListener proxy for publishing state updates
          */