Add data streaming to RobotUnitComponentPlugin

source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt

@@ -8,6 +8,7 @@ set(LIBS
     DebugDrawer
     diffik
     RobotStatechartHelpers
+    RobotUnitDataStreamingReceiver
 )
 
 set(LIB_FILES

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp

@@ -2,6 +2,15 @@
 
 namespace armarx::plugins
 {
+    RobotUnitDataStreamingReceiverPtr
+    RobotUnitComponentPlugin::startDataSatreming(
+        const RobotUnitDataStreaming::Config& cfg)
+    {
+        //ok to create smart ptr from parent, since ice handels this
+        return make_shared<RobotUnitDataStreamingReceiver>(
+                   &parent(), getRobotUnit(), cfg);
+    }
+
     void RobotUnitComponentPlugin::postOnDisconnectComponent()
     {
         if (!_ctrls.empty())
@@ -19,6 +28,16 @@ namespace armarx::plugins
         bool doManageController)
     {
         ARMARX_CHECK_NOT_NULL(_robotUnit);
+        ARMARX_INFO << ARMARX_STREAM_PRINTER
+        {
+            out << "creating ";
+            if (doManageController)
+            {
+                out << "and managing ";
+            }
+            out << " controller '" << instanceName
+                << "' of class '" << instanceName << "'";
+        };
         const auto prx = _robotUnit->createOrReplaceNJointController(className, instanceName, config);
         ARMARX_CHECK_NOT_NULL(prx);
         if (doManageController)

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h

@@ -2,6 +2,7 @@
 
 #include <ArmarXCore/core/Component.h>
 #include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
+#include <RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h>
 
 
 namespace armarx
@@ -28,6 +29,8 @@ namespace armarx
 
             void deactivate();
 
+            //controllers
+        public:
             template<class PrxT>
             PrxT createNJointController(const std::string& className,
                                         const std::string& instanceName,
@@ -51,6 +54,11 @@ namespace armarx
                     bool doManageController = true);
             void manageController(const NJointControllerInterfacePrx& ctrl);
             void manageController(const std::string& ctrl);
+
+            //datastreaming
+        public:
+            RobotUnitDataStreamingReceiverPtr startDataSatreming(const RobotUnitDataStreaming::Config& cfg);
+
         private:
             static constexpr const char* PROPERTY_NAME = "RobotUnitName";
             RobotUnitInterfacePrx _robotUnit;