added topic for automatic view selection status

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();

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;

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