From 508d453ad738336c7f0e7391954e2a388e72cc94 Mon Sep 17 00:00:00 2001
From: Pascal Weiner <pascal.weiner@kit.edu>
Date: Thu, 4 Feb 2021 09:54:26 +0100
Subject: [PATCH] Add data streaming to RobotUnitComponentPlugin
---
.../RobotAPIComponentPlugins/CMakeLists.txt | 1 +
.../RobotUnitComponentPlugin.cpp | 19 +++++++++++++++++++
.../RobotUnitComponentPlugin.h | 8 ++++++++
3 files changed, 28 insertions(+)
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt b/source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt
index 3c9bbe17d..8e61ccd83 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt
@@ -8,6 +8,7 @@ set(LIBS
DebugDrawer
diffik
RobotStatechartHelpers
+ RobotUnitDataStreamingReceiver
)
set(LIB_FILES
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
index 20c957ef7..54642a237 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
+++ b/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)
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
index e72b5982c..7ba7dc09e 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
+++ b/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;
--
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