Add ArVizComponentPluginUser::getArvizClient and clean up client code

source/RobotAPI/components/ArViz/Client/Client.h

@@ -19,20 +19,19 @@ namespace armarx::viz
         Client(armarx::Component& component, std::string topicNameProperty = "ArVizTopicName")
         {
             componentName = component.getName();
-
-            topic = component.getTopicFromProperty<decltype(topic)>(topicNameProperty);
+            component.getTopicFromProperty(_topic, topicNameProperty);
         }
         Client(ManagedIceObject& obj, const std::string& topicName = "ArVizTopic")
         {
             componentName = obj.getName();
-            obj.getTopic(topic, topicName);
+            obj.getTopic(_topic, topicName);
         }
 
         static Client createFromTopic(const std::string arvizNamespace, armarx::viz::Topic::ProxyType topic)
         {
             Client client;
             client.componentName = arvizNamespace;
-            client.topic = topic;
+            client._topic = topic;
             return client;
         }
 
@@ -46,7 +45,7 @@ namespace armarx::viz
                 name = name.substr(0, dashPos);
             }
             client.componentName = name;
-            client.topic = component.getTopic<decltype(topic)>(topicName);
+            component.getTopic(client._topic, topicName);
             return client;
         }
 
@@ -129,7 +128,7 @@ namespace armarx::viz
 
         void commit()
         {
-            topic->updateLayers(updates);
+            _topic->updateLayers(updates);
             updates.clear();
         }
 
@@ -138,9 +137,14 @@ namespace armarx::viz
         {
             commit(layerContaining(name, std::forward<Ts>(elems)...));
         }
+
+        const armarx::viz::TopicPrx& topic() const
+        {
+            return _topic;
+        }
     private:
         std::string componentName;
-        armarx::viz::TopicPrx topic;
+        armarx::viz::TopicPrx _topic;
 
         data::LayerUpdateSeq updates;
     };

source/RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h

@@ -41,6 +41,15 @@ namespace armarx
 
         armarx::viz::Client arviz;
 
+        armarx::viz::Client& getArvizClient()
+        {
+            if (!arviz.topic())
+            {
+                arviz = createArVizClient();
+            }
+            return arviz;
+        }
+
     private:
         armarx::plugins::ArVizComponentPlugin* plugin = nullptr;
     };