From 394ef979d4e10bbbcf82b2cba60edd09cbcc3341 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 25 Mar 2021 14:21:17 +0100
Subject: [PATCH] PlatformUnit: partially reverting changes
---
.../RobotAPI/components/units/PlatformUnit.cpp | 14 +++++++++-----
source/RobotAPI/components/units/PlatformUnit.h | 17 +++++++++++++++++
2 files changed, 26 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/components/units/PlatformUnit.cpp b/source/RobotAPI/components/units/PlatformUnit.cpp
index 5f026957d..7b01dda6b 100644
--- a/source/RobotAPI/components/units/PlatformUnit.cpp
+++ b/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();
}
diff --git a/source/RobotAPI/components/units/PlatformUnit.h b/source/RobotAPI/components/units/PlatformUnit.h
index 23f5f14fc..f8b2335cf 100644
--- a/source/RobotAPI/components/units/PlatformUnit.h
+++ b/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
*/
--
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