Removed RobotControlLib linking from apps

Adapted to core statechart changes

source/RobotAPI/applications/MotionControl/CMakeLists.txt

@@ -8,7 +8,7 @@ find_package(Simox QUIET)
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 
 
-set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations)
+set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIRobotStateComponent ArmarXCoreStatechart RobotAPIOperations)
 
 set(SOURCES main.cpp MotionControlApp.h)
 

source/RobotAPI/applications/MotionControlTest/CMakeLists.txt

@@ -13,7 +13,7 @@ if (Eigen3_FOUND AND Simox_FOUND)
         ${Simox_INCLUDE_DIRS})
 endif()
 
-set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations ${Simox_LIBRARIES})
+set(COMPONENT_LIBS MotionControl RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIRobotStateComponent ArmarXCoreStatechart RobotAPIOperations ${Simox_LIBRARIES})
 
 set(SOURCES main.cpp MotionControlTestApp.h)
 

source/RobotAPI/applications/MovePlatform/CMakeLists.txt

@@ -17,7 +17,7 @@ set(COMPONENT_LIBS
                    ArmarXCore
                    ArmarXCoreStatechart
                    ArmarXCoreObservers
-                   ArmarXCoreOperations
+                   RobotAPIOperations
                    RobotAPIRemoteRobot
                    #MemoryXInterfaces
                    #MemoryXCore

source/RobotAPI/applications/MovePlatformToLandmark/CMakeLists.txt

@@ -18,7 +18,7 @@ set(COMPONENT_LIBS
                    ArmarXCore
                    ArmarXCoreStatechart
                    ArmarXCoreObservers
-                   ArmarXCoreOperations
+                   RobotAPIOperations
                    RobotAPIRemoteRobot
                    #MemoryXInterfaces
                    #MemoryXCore

source/RobotAPI/applications/RobotControl/CMakeLists.txt

@@ -5,7 +5,7 @@ armarx_component_set_name(RobotControl)
 #armarx_build_if(Simox_FOUND 2.3.0 "Simox-VirtualRobot not available")
 
 
-set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIInterfaces RobotAPIRobotStateComponent ArmarXCoreStatechart ArmarXCoreOperations RobotAPIUnits RobotAPIRemoteRobot)
+set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore ArmarXCoreObservers RobotAPIInterfaces RobotAPIRobotStateComponent ArmarXCoreStatechart RobotAPIOperations RobotAPIUnits RobotAPIRemoteRobot)
 
 set(SOURCES main.cpp RobotControlApp.h)
 

source/RobotAPI/applications/RobotControlUI/CMakeLists.txt

@@ -7,7 +7,7 @@ armarx_component_set_name(RobotControlUI)
 
 
 set(COMPONENT_LIBS ArmarXInterfaces ArmarXCore #ArmarXCoreUnits 
-    ArmarXCoreObservers ArmarXCoreStatechart ArmarXCoreOperations)
+    ArmarXCoreObservers ArmarXCoreStatechart RobotAPIOperations)
 
 set(SOURCES main.cpp
     RobotControlUI.cpp

source/RobotAPI/operations/CMakeLists.txt

 
-armarx_set_target("Core Library: ArmarXCoreOperations")
+armarx_set_target("Core Library: RobotAPIOperations")
 find_package(Eigen3 QUIET)
 find_package(Simox 2.3.0 QUIET)
 
@@ -9,11 +9,11 @@ armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
 include_directories(${Eigen3_INCLUDE_DIR})
 include_directories(${Simox_INCLUDE_DIRS})
 
-set(LIB_NAME       ArmarXCoreOperations)
+set(LIB_NAME       RobotAPIOperations)
 set(LIB_VERSION    0.1.0)
 set(LIB_SOVERSION  0)
 
-set(LIBS RobotAPIRemoteRobot ArmarXInterfaces ArmarXCore ArmarXCoreStatechart ArmarXCoreObservers )
+set(LIBS RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreStatechart ArmarXCoreObservers )
 
 set(LIB_FILES RobotControl.cpp)
 set(LIB_HEADERS RobotControl.h)

source/RobotAPI/operations/RobotControl.cpp

@@ -27,14 +27,11 @@
 
 #include <Core/observers/variant/ChannelRef.h>
 #include <Core/statechart/DynamicRemoteState.h>
-#include <RobotAPI/robotstate/remote/RobotStateObjectFactories.h>
-
 
 namespace armarx
 {
     void RobotControl::onInitRemoteStateOfferer()
     {
-        ARMARX_INFO_S << "pose: " << Pose() ;
         addState<Statechart_Robot>("RobotControl");
     }
 
@@ -70,7 +67,7 @@ namespace armarx
     void RobotControl::createStaticInstance()
     {
         getObjectScheduler()->waitForObjectState(eManagedIceObjectStarted, 5000);
-        stateId = createRemoteStateInstance("RobotControl", NULL, "RobotStatechart");
+        stateId = createRemoteStateInstance("RobotControl", NULL, "RobotStatechart", "");
         std::map<int, StateBasePtr> stateList = getChildStatesByName(stateId,"Functional");
         ARMARX_INFO << "Functional State Id:" << stateList.begin()->first << flush;
         assert(stateList.size() > 0);
@@ -107,7 +104,7 @@ namespace armarx
         StateBasePtr stateIdling = addState<State>("Idling");
         StateBasePtr stateRobotPreInitialized = addState<RobotPreInitialized>("RobotPreInitialized");
         StateBasePtr stateRobotInitialized = addState<State>("RobotInitialized");
-        StateBasePtr stateScenarioRunning = addDynamicRemoteState();
+        StateBasePtr stateScenarioRunning = addDynamicRemoteState("DynamicScenarioState");
         StateBasePtr stateFatalError = addState<FailureState>("FatalError");
 
         setInitState(stateRobotInitialized);