From 7cc493934962e7fc75e2b34c4ba41de9869ae4cf Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Fri, 26 Nov 2021 16:46:55 +0100
Subject: [PATCH] Add doc for and modernize ArVizStorage
---
.../components/ArViz/ArVizStorage.cpp | 33 +++++++--
.../RobotAPI/components/ArViz/ArVizStorage.h | 74 +++++++------------
2 files changed, 51 insertions(+), 56 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.cpp b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
index b0b29f259..1fbb408cc 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.cpp
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.cpp
@@ -60,10 +60,33 @@ namespace armarx
}
+ std::string ArVizStorage::getDefaultName() const
+ {
+ return "ArVizStorage";
+ }
+
+
+ armarx::PropertyDefinitionsPtr ArVizStorage::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs(new ComponentPropertyDefinitions(getConfigIdentifier()));
+
+ defs->optional(topicName, "TopicName",
+ "Layer updates are sent over this topic.");
+
+ defs->optional(maxHistorySize, "MaxHistorySize",
+ "How many layer updates are saved in the history until they are compressed")
+ .setMin(0);
+
+ defs->defineOptionalProperty<std::string>(
+ "HistoryPath", "RobotAPI/ArVizStorage",
+ "Destination path where the history are serialized to");
+
+ return defs;
+ }
+
+
void ArVizStorage::onInitComponent()
{
- topicName = getProperty<std::string>("TopicName").getValue();
- maxHistorySize = getProperty<int>("MaxHistorySize").getValue();
std::filesystem::path historyPathProp = getProperty<std::string>("HistoryPath").getValue();
historyPath = getAbsolutePath(historyPathProp);
if (!std::filesystem::exists(historyPath))
@@ -106,14 +129,8 @@ namespace armarx
void ArVizStorage::onExitComponent()
{
-
}
- armarx::PropertyDefinitionsPtr ArVizStorage::createPropertyDefinitions()
- {
- return armarx::PropertyDefinitionsPtr(new ArVizPropertyDefinitions(
- getConfigIdentifier()));
- }
void ArVizStorage::updateLayers(viz::data::LayerUpdateSeq const& updates, const Ice::Current&)
{
diff --git a/source/RobotAPI/components/ArViz/ArVizStorage.h b/source/RobotAPI/components/ArViz/ArVizStorage.h
index 08b7d20ff..220bc12b3 100644
--- a/source/RobotAPI/components/ArViz/ArVizStorage.h
+++ b/source/RobotAPI/components/ArViz/ArVizStorage.h
@@ -36,72 +36,50 @@
namespace armarx
{
- /**
- * @class ArVizPropertyDefinitions
- * @brief
- */
- class ArVizPropertyDefinitions:
- public armarx::ComponentPropertyDefinitions
- {
- public:
- ArVizPropertyDefinitions(std::string prefix):
- armarx::ComponentPropertyDefinitions(prefix)
- {
- defineOptionalProperty<std::string>("TopicName", "ArVizTopic", "Layer updates are sent over this topic.");
- defineOptionalProperty<int>("MaxHistorySize", 1000, "How many layer updates are saved in the history until they are compressed")
- .setMin(0);
- defineOptionalProperty<std::string>("HistoryPath", "RobotAPI/ArVizStorage", "Destination path where the history are serialized to");
- }
- };
/**
- * @defgroup Component-ArViz ArViz
+ * @defgroup Component-ArVizStorage ArVizStorage
* @ingroup RobotAPI-Components
- * A description of the component ArViz.
+ *
+ * The ArViz storage stores visualization elements published by ArViz
+ * clients and provides them for visualizing components such as the
+ * ArViz gui plugin.
+ *
+ * In addition, the ArViz storage can be used to record and restore
+ * visualization episodes and restore.
+ *
*
* @class ArViz
- * @ingroup Component-ArViz
- * @brief Brief description of class ArViz.
+ * @ingroup Component-ArVizStorage
+ *
+ * @brief Stores visualization elements drawn by ArViz clients.
*
- * Detailed description of class ArViz.
*/
class ArVizStorage
: virtual public armarx::Component
, virtual public armarx::viz::StorageAndTopicInterface
{
public:
- /**
- * @see armarx::ManagedIceObject::getDefaultName()
- */
- std::string getDefaultName() const override
- {
- return "ArVizStorage";
- }
-
- /**
- * @see armarx::ManagedIceObject::onInitComponent()
- */
+
+ /// armarx::ManagedIceObject::getDefaultName()
+ std::string getDefaultName() const override;
+
+
+ /// PropertyUser::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+ /// armarx::ManagedIceObject::onInitComponent()
void onInitComponent() override;
- /**
- * @see armarx::ManagedIceObject::onConnectComponent()
- */
+ /// armarx::ManagedIceObject::onConnectComponent()
void onConnectComponent() override;
- /**
- * @see armarx::ManagedIceObject::onDisconnectComponent()
- */
+ /// armarx::ManagedIceObject::onDisconnectComponent()
void onDisconnectComponent() override;
- /**
- * @see armarx::ManagedIceObject::onExitComponent()
- */
+ /// armarx::ManagedIceObject::onExitComponent()
void onExitComponent() override;
- /**
- * @see PropertyUser::createPropertyDefinitions()
- */
- armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
// Topic interface
void updateLayers(viz::data::LayerUpdateSeq const& updates, const Ice::Current&) override;
@@ -119,8 +97,8 @@ namespace armarx
void recordBatch(viz::data::RecordingBatch& batch);
private:
- std::string topicName;
- int maxHistorySize = 100;
+ std::string topicName = "ArVizTopic";
+ int maxHistorySize = 1000;
std::filesystem::path historyPath;
std::mutex historyMutex;
--
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