From 828ac03015add53c868804651119acc3c989a77d Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Tue, 7 Jun 2016 19:29:11 +0200
Subject: [PATCH] SharedRobot offers the proxy to the parent now
---
.../RobotState/RobotStateComponent.cpp | 6 +++---
.../RobotState/SharedRobotServants.cpp | 21 ++++++++++++++-----
.../RobotState/SharedRobotServants.h | 15 +++++++------
source/RobotAPI/interface/core/RobotState.ice | 9 ++++++++
4 files changed, 37 insertions(+), 14 deletions(-)
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index 941097740..6488c07c1 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -131,7 +131,7 @@ namespace armarx
ARMARX_VERBOSE << "Node: " << node->getName() << endl;
}
}*/
- _sharedRobotServant = new SharedRobotServant(this->_synchronized);
+ _sharedRobotServant = new SharedRobotServant(this->_synchronized, RobotStateComponentInterfacePrx::uncheckedCast(getProxy()));
_sharedRobotServant->ref();
}
@@ -172,7 +172,7 @@ namespace armarx
auto clone = this->_synchronized->clone(_synchronized->getName());
- SharedRobotServantPtr p = new SharedRobotServant(clone);
+ SharedRobotServantPtr p = new SharedRobotServant(clone, RobotStateComponentInterfacePrx::uncheckedCast(getProxy()));
p->setTimestamp(IceUtil::Time::microSecondsDouble(_sharedRobotServant->getTimestamp()->timestamp));
auto result = getObjectAdapter()->addWithUUID(p);
// virtal robot clone is buggy -> set global pose here
@@ -197,7 +197,7 @@ namespace armarx
clone->setJointValues(config.jointMap);
clone->setGlobalPose(FramedPosePtr::dynamicCast(config.globalPose)->toEigen());
- SharedRobotServantPtr p = new SharedRobotServant(clone);
+ SharedRobotServantPtr p = new SharedRobotServant(clone, RobotStateComponentInterfacePrx::uncheckedCast(getProxy()));
p->setTimestamp(IceUtil::Time::microSecondsDouble(time));
auto result = getObjectAdapter()->addWithUUID(p);
// virtal robot clone is buggy -> set global pose here
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.cpp b/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
index 38ead5c0f..e1fa94fd5 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.cpp
@@ -15,9 +15,9 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
- * @package
- * @author
- * @date
+ * @package
+ * @author
+ * @date
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -282,8 +282,9 @@ namespace armarx
// SharedRobotServant
///////////////////////////////
- SharedRobotServant::SharedRobotServant(RobotPtr robot)
- : _robot(robot)
+ SharedRobotServant::SharedRobotServant(RobotPtr robot, RobotStateComponentInterfacePrx robotStateComponent)
+ : _robot(robot),
+ robotStateComponent(robotStateComponent)
{
#ifdef VERBOSE
ARMARX_WARNING_S << "construct " << this << flush;
@@ -307,6 +308,11 @@ namespace armarx
}
}
+ void SharedRobotServant::setRobotStateComponent(RobotStateComponentInterfacePrx robotStateComponent)
+ {
+ this->robotStateComponent = robotStateComponent;
+ }
+
SharedRobotNodeInterfacePrx SharedRobotServant::getRobotNode(const string& name, const Current& current)
{
// ARMARX_LOG_S << "Looking for node: " << name << flush;
@@ -445,6 +451,11 @@ namespace armarx
return new TimestampVariant(updateTimestamp);
}
+ RobotStateComponentInterfacePrx SharedRobotServant::getRobotStateComponent(const Current&) const
+ {
+ return robotStateComponent;
+ }
+
void SharedRobotServant::setGlobalPose(const armarx::PoseBasePtr& pose, const Current&)
{
WriteLockPtr lock = _robot->getWriteLock();
diff --git a/source/RobotAPI/components/RobotState/SharedRobotServants.h b/source/RobotAPI/components/RobotState/SharedRobotServants.h
index e8ec1fd3e..3eabd9255 100644
--- a/source/RobotAPI/components/RobotState/SharedRobotServants.h
+++ b/source/RobotAPI/components/RobotState/SharedRobotServants.h
@@ -15,9 +15,9 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
- * @package
- * @author
- * @date
+ * @package
+ * @author
+ * @date
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
@@ -72,7 +72,7 @@ namespace armarx
*/
class SharedRobotNodeServant :
virtual public SharedRobotNodeInterface,
- public SharedObjectBase
+ public SharedObjectBase
{
public:
SharedRobotNodeServant(VirtualRobot::RobotNodePtr node /*,const Ice::Current & current = Ice::Current()*/);
@@ -117,9 +117,9 @@ namespace armarx
public SharedObjectBase
{
public:
- SharedRobotServant(VirtualRobot::RobotPtr robot);
+ SharedRobotServant(VirtualRobot::RobotPtr robot, RobotStateComponentInterfacePrx robotStateComponent);
~SharedRobotServant();
-
+ void setRobotStateComponent(RobotStateComponentInterfacePrx robotStateComponent);
virtual SharedRobotNodeInterfacePrx getRobotNode(const std::string& name, const Ice::Current& current = Ice::Current());
virtual SharedRobotNodeInterfacePrx getRootNode(const Ice::Current& current = Ice::Current());
virtual bool hasRobotNode(const std::string& name, const Ice::Current& current = Ice::Current());
@@ -140,11 +140,14 @@ namespace armarx
void setTimestamp(const IceUtil::Time& updateTime);
TimestampBasePtr getTimestamp(const Ice::Current& = Ice::Current()) const;
+ RobotStateComponentInterfacePrx getRobotStateComponent(const Ice::Current&) const;
protected:
VirtualRobot::RobotPtr _robot;
boost::recursive_mutex m;
std::map<std::string, SharedRobotNodeInterfacePrx> _cachedNodes;
IceUtil::Time updateTimestamp;
+ RobotStateComponentInterfacePrx robotStateComponent;
+
};
typedef IceInternal::Handle<SharedRobotServant> SharedRobotServantPtr;
diff --git a/source/RobotAPI/interface/core/RobotState.ice b/source/RobotAPI/interface/core/RobotState.ice
index 936fd47c8..e01053760 100644
--- a/source/RobotAPI/interface/core/RobotState.ice
+++ b/source/RobotAPI/interface/core/RobotState.ice
@@ -118,12 +118,20 @@ module armarx
};
+ interface RobotStateComponentInterface;
+
/**
* The SharedRobotInterface provides access to a limited amount of
* VirtualRobot::Robot methods over the Ice network.
*/
interface SharedRobotInterface extends SharedObjectInterface
{
+ /**
+ * @return returns the RobotStateComponent this robot belongs to
+ */
+ ["cpp:const"] idempotent
+ RobotStateComponentInterface* getRobotStateComponent();
+
SharedRobotNodeInterface* getRobotNode(string name);
SharedRobotNodeInterface* getRootNode();
bool hasRobotNode(string name);
@@ -143,6 +151,7 @@ module armarx
void setGlobalPose(PoseBase globalPose);
PoseBase getGlobalPose();
NameValueMap getConfig();
+
};
--
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