Reset history of RobotStateComponent on signal from SimulatorResetEvent

source/RobotAPI/components/RobotState/RobotStateComponent.cpp

@@ -156,6 +156,7 @@ namespace armarx
         {
             ARMARX_WARNING << "Failed to read robot info from file: " << robotFile;
         }
+        usingTopic("SimulatorResetEvent");
     }
 
     void RobotStateComponent::readRobotInfo(const std::string& robotFile)
@@ -466,6 +467,18 @@ namespace armarx
         (void) jointStatuses, (void) timestamp, (void) aValueChanged;
     }
 
+    void RobotStateComponent::simulatorWasReset(const Current&)
+    {
+        {
+            std::lock_guard lock(poseHistoryMutex);
+            poseHistory.clear();
+        }
+        {
+            std::lock_guard lock(jointHistoryMutex);
+            jointHistory.clear();
+        }
+    }
+
     PropertyDefinitionsPtr RobotStateComponent::createPropertyDefinitions()
     {
         return PropertyDefinitionsPtr(new RobotStatePropertyDefinitions(

source/RobotAPI/components/RobotState/RobotStateComponent.h

@@ -179,7 +179,7 @@ namespace armarx
         /// Does nothing.
         void reportJointStatuses(const NameStatusMap& jointStatuses, Ice::Long timestamp,  bool aValueChanged, const Ice::Current& c = Ice::emptyCurrent) override;
 
-
+        void simulatorWasReset(const Ice::Current& = Ice::emptyCurrent) override;
     private:
 
         void readRobotInfo(const std::string& robotFile);

source/RobotAPI/interface/core/RobotState.ice

@@ -23,6 +23,7 @@
  */
 #pragma once
 
+#include <ArmarXCore/interface/events/SimulatorResetEvent.ice>
 #include <RobotAPI/interface/units/KinematicUnitInterface.ice>
 #include <RobotAPI/interface/units/PlatformUnitInterface.ice>
 #include <RobotAPI/interface/core/FramedPoseBase.ice>
@@ -191,7 +192,8 @@ module armarx
     interface RobotStateComponentInterface extends
             KinematicUnitListener,
             PlatformUnitListener,
-            GlobalRobotPoseLocalizationListener
+            GlobalRobotPoseLocalizationListener,
+            SimulatorResetEvent
     {
         /**
          * @return proxy to the shared robot which constantly updates all joint values