Added HandUnitComponentPlugin

source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt

@@ -21,6 +21,7 @@ set(LIB_FILES
     TrajectoryPlayerComponentPlugin.cpp
     CartesianPositionControlComponentPlugin.cpp
     NaturalIKComponentPlugin.cpp
+    HandUnitComponentPlugin.cpp
 )
 set(LIB_HEADERS
     RobotStateComponentPlugin.h
@@ -34,6 +35,7 @@ set(LIB_HEADERS
     TrajectoryPlayerComponentPlugin.h
     CartesianPositionControlComponentPlugin.h
     NaturalIKComponentPlugin.h
+    HandUnitComponentPlugin.h
 )
 
 armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")

source/RobotAPI/libraries/RobotAPIComponentPlugins/HandUnitComponentPlugin.cpp

+#include "HandUnitComponentPlugin.h"
+
+namespace armarx
+{
+    namespace plugins
+    {
+
+        void HandUnitComponentPlugin::preOnInitComponent()
+        {
+            parent<Component>().usingProxyFromProperty(PROPERTY_NAME);
+        }
+
+        void HandUnitComponentPlugin::preOnConnectComponent()
+        {
+            parent<Component>().getProxyFromProperty(_handUnit, PROPERTY_NAME);
+        }
+
+        void HandUnitComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+        {
+            if (!properties->hasDefinition(PROPERTY_NAME))
+            {
+                properties->defineOptionalProperty<std::string>(
+                    PROPERTY_NAME,
+                    "HandUnit",
+                    "Name of the HandUnit");
+            }
+        }
+
+        HandUnitInterfacePrx HandUnitComponentPlugin::getHandUnit()
+        {
+            return _handUnit;
+        }
+
+
+    }
+}
+
+namespace armarx
+{
+
+    HandUnitComponentPluginUser::HandUnitComponentPluginUser()
+    {
+        addPlugin(plugin);
+    }
+
+    HandUnitInterfacePrx HandUnitComponentPluginUser::getHandUnit()
+    {
+        return plugin->getHandUnit();
+    }
+
+
+}
+
+

source/RobotAPI/libraries/RobotAPIComponentPlugins/HandUnitComponentPlugin.h

+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <RobotAPI/interface/units/HandUnitInterface.h>
+
+
+namespace armarx
+{
+    namespace plugins
+    {
+
+        class HandUnitComponentPlugin : public ComponentPlugin
+        {
+        public:
+            using ComponentPlugin::ComponentPlugin;
+
+            void preOnInitComponent() override;
+
+            void preOnConnectComponent() override;
+
+            void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+            HandUnitInterfacePrx getHandUnit();
+
+        private:
+            static constexpr const char* PROPERTY_NAME = "HandUnitName";
+            HandUnitInterfacePrx _handUnit;
+        };
+
+    }
+}
+
+namespace armarx
+{
+    /**
+     * @brief Provides a ready-to-use HandUnit.
+     */
+    class HandUnitComponentPluginUser : virtual public ManagedIceObject
+    {
+    public:
+        HandUnitComponentPluginUser();
+        HandUnitInterfacePrx getHandUnit();
+
+    private:
+        armarx::plugins::HandUnitComponentPlugin* plugin = nullptr;
+    };
+
+}
+
+
+namespace armarx
+{
+    namespace plugins
+    {
+        // Legacy typedef.
+        using HandUnitComponentPluginUser = armarx::HandUnitComponentPluginUser;
+    }
+}