From 8e8283811d3e945973385bc585522e86f1310338 Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Fri, 10 Jun 2016 14:17:31 +0200
Subject: [PATCH] added topic for automatic view selection status
---
.../components/ViewSelection/ViewSelection.cpp | 2 ++
.../components/ViewSelection/ViewSelection.h | 15 ++++++++++++++-
.../components/ViewSelectionInterface.ice | 9 ++++++++-
3 files changed, 24 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/ViewSelection/ViewSelection.cpp b/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
index 4ee7ad2dd..30a85a193 100644
--- a/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
+++ b/source/RobotAPI/components/ViewSelection/ViewSelection.cpp
@@ -40,6 +40,7 @@ void ViewSelection::onInitComponent()
usingProxy(getProperty<std::string>("HeadIKUnitName").getValue());
offeringTopic("DebugDrawerUpdates");
+ offeringTopic(getName() + "Observer");
headIKKinematicChainName = getProperty<std::string>("HeadIKKinematicChainName").getValue();
headFrameName = getProperty<std::string>("HeadFrameName").getValue();
@@ -105,6 +106,7 @@ void ViewSelection::onConnectComponent()
headIKUnitProxy = getProxy<HeadIKUnitInterfacePrx>(getProperty<std::string>("HeadIKUnitName").getValue());
headIKUnitProxy->request();
+ viewSelectionObserver = getTopic<ViewSelectionObserverPrx>(getName() + "Observer");
drawer = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
processorTask->start();
diff --git a/source/RobotAPI/components/ViewSelection/ViewSelection.h b/source/RobotAPI/components/ViewSelection/ViewSelection.h
index 40d200901..496e20250 100644
--- a/source/RobotAPI/components/ViewSelection/ViewSelection.h
+++ b/source/RobotAPI/components/ViewSelection/ViewSelection.h
@@ -154,15 +154,26 @@ namespace armarx
boost::mutex::scoped_lock lock(manualViewTargetsMutex);
ARMARX_INFO << "activating automatic view selection";
+
doAutomaticViewSelection = true;
+ viewSelectionObserver->onActivateAutomaticViewSelection();
}
virtual void deactivateAutomaticViewSelection(const Ice::Current& c = Ice::Current())
{
boost::mutex::scoped_lock lock(manualViewTargetsMutex);
- ARMARX_INFO << "DEactivating automatic view selection";
+ ARMARX_INFO << "deactivating automatic view selection";
+
doAutomaticViewSelection = false;
+ viewSelectionObserver->onDeactivateAutomaticViewSelection();
+ }
+
+ virtual bool isEnabledAutomaticViewSelection(const Ice::Current& c = Ice::Current())
+ {
+ boost::mutex::scoped_lock lock(manualViewTargetsMutex);
+
+ return doAutomaticViewSelection;
}
void updateSaliencyMap(const SaliencyMapBasePtr& map, const Ice::Current& c = ::Ice::Current());
@@ -179,6 +190,8 @@ namespace armarx
HeadIKUnitInterfacePrx headIKUnitProxy;
DebugDrawerInterfacePrx drawer;
+ ViewSelectionObserverPrx viewSelectionObserver;
+
std::string headIKKinematicChainName;
std::string headFrameName;
std::string cameraFrameName;
diff --git a/source/RobotAPI/interface/components/ViewSelectionInterface.ice b/source/RobotAPI/interface/components/ViewSelectionInterface.ice
index 4d1c04ed4..cb9a18032 100755
--- a/source/RobotAPI/interface/components/ViewSelectionInterface.ice
+++ b/source/RobotAPI/interface/components/ViewSelectionInterface.ice
@@ -35,7 +35,6 @@ module armarx
const int DEFAULT_VIEWTARGET_PRIORITY = 50;
-
["cpp:virtual"]
class ViewTargetBase
{
@@ -76,11 +75,19 @@ module armarx
void activateAutomaticViewSelection();
void deactivateAutomaticViewSelection();
+ bool isEnabledAutomaticViewSelection();
void updateSaliencyMap(SaliencyMapBase map);
};
+
+ interface ViewSelectionObserver
+ {
+ void onActivateAutomaticViewSelection();
+ void onDeactivateAutomaticViewSelection();
+ };
+
};
#endif
--
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