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Commit 91ea252f authored by Nikolaus Vahrenkamp's avatar Nikolaus Vahrenkamp
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Merge branch 'master' of https://i61wiki.itec.uka.de/git/robot-api

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scenarios/CMakeLists.txt
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add_subdirectory(WeissHapticSensorsUnitTest)
add_subdirectory(DummyTest)
\ No newline at end of file
scenarios/DummyTest/CMakeLists.txt deleted 100644 → 0
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set(SCENARIO_COMPONENTS
DummyUnitApp
DummyUnitObserver
)
# optional 3rd parameter: "path/to/global/config.cfg"
armarx_scenario("DummyUnitTest" "${SCENARIO_COMPONENTS}")
scenarios/DummyTest/config/DummyUnitApp.cfg deleted 100644 → 0
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# ==================================================================
# ArmarX properties
# ==================================================================
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.DataPath = ""
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Verbose
# - Case sensitivity: no
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Verbose
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
# - Default: 0
# - Case sensitivity: no
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.DisableLogging = 0
# ArmarX.CachePath: Path for cache files
# Attributes:
# - Default: ${HOME}/.armarx/mongo/.cache
# - Case sensitivity: no
# - Required: no
# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.ApplicationName = ""
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.Config = ""
# ==================================================================
# ArmarX.DummyUnit properties
# ==================================================================
# ArmarX.DummyUnit.ReportPeriod: The unit's reporting period in ms
# Attributes:
# - Case sensitivity: no
# - Required: yes
ArmarX.DummyUnit.ReportPeriod = 1000
# ArmarX.DummyUnit.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
# - Case sensitivity: no
# - Required: no
# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
# ArmarX.DummyUnit.MinimumLoggingLevel = Undefined
# ArmarX.DummyUnit.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.DummyUnit.ObjectName = ""
scenarios/DummyTest/config/DummyUnitObserver.cfg deleted 100644 → 0
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# ==================================================================
# ArmarX properties
# ==================================================================
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.DataPath = ""
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Verbose
# - Case sensitivity: no
# - Required: no
# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Verbose
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
# - Default: 0
# - Case sensitivity: no
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
# ArmarX.DisableLogging = 0
# ArmarX.CachePath: Path for cache files
# Attributes:
# - Default: ${HOME}/.armarx/mongo/.cache
# - Case sensitivity: no
# - Required: no
# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.ApplicationName = ""
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.Config = ""
# ==================================================================
# ArmarX.DummyUnitObserver properties
# ==================================================================
# ArmarX.DummyUnitObserver.ReportPeriod: The unit's reporting period in ms
# Attributes:
# - Case sensitivity: no
# - Required: yes
ArmarX.DummyUnitObserver.ReportPeriod = <set value!>
# ArmarX.DummyUnitObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
# - Case sensitivity: no
# - Required: no
# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
# ArmarX.DummyUnitObserver.MinimumLoggingLevel = Undefined
# ArmarX.DummyUnitObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
# - Case sensitivity: no
# - Required: no
# ArmarX.DummyUnitObserver.ObjectName = ""
source/RobotAPI/applications/CMakeLists.txt
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......@@ -21,6 +21,4 @@ add_subdirectory(PlatformUnitObserver)
add_subdirectory(RobotStateComponent)
add_subdirectory(RobotStateObserver)
add_subdirectory(HandUnitObserver)
add_subdirectory(DummyUnit)
add_subdirectory(DummyUnitObserver)
source/RobotAPI/applications/DummyUnit/CMakeLists.txt deleted 100644 → 0
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armarx_component_set_name("DummyUnitApp")
set(COMPONENT_LIBS RobotAPIInterfaces RobotAPIUnits ArmarXCore)
set(EXE_SOURCE main.cpp DummyUnitApp.h)
armarx_add_component_executable("${EXE_SOURCE}")
source/RobotAPI/applications/DummyUnit/DummyUnitApp.h deleted 100644 → 0
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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* 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 RobotAPI::application::DummyUnit
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#ifndef _ARMARX_APPLICATION_RobotAPI_DummyUnit_H
#define _ARMARX_APPLICATION_RobotAPI_DummyUnit_H
#include <Core/core/application/Application.h>
#include <RobotAPI/units/DummyUnit.h>
namespace armarx
{
class DummyUnitApp :
virtual public armarx::Application
{
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
registry->addObject(Component::create<DummyUnit>(properties));
}
};
}
#endif
source/RobotAPI/applications/DummyUnit/main.cpp deleted 100644 → 0
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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* 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 RobotAPI::application::DummyUnitApp
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#include "DummyUnitApp.h"
int main(int argc, char* argv[])
{
armarx::ApplicationPtr app = armarx::Application::createInstance <armarx::DummyUnitApp>();
app->setName("DummyUnit");
return app->main(argc, argv);
}
source/RobotAPI/applications/DummyUnitObserver/CMakeLists.txt deleted 100644 → 0
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armarx_component_set_name(DummyUnitObserver)
set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
set(SOURCES main.cpp DummyUnitObserverApp.h)
armarx_add_component_executable("${SOURCES}")
source/RobotAPI/applications/DummyUnitObserver/DummyUnitObserverApp.h deleted 100644 → 0
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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* 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 RobotAPI::application::DummyUnit
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#include <Core/core/application/Application.h>
#include <RobotAPI/units/DummyUnitObserver.h>
namespace armarx
{
class DummyUnitObserverApp :
virtual public armarx::Application
{
void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
{
registry->addObject( Component::create<DummyUnitObserver>(properties) );
}
};
}
source/RobotAPI/applications/DummyUnitObserver/main.cpp deleted 100644 → 0
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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* 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 RobotAPI::application::DummyUnit
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#include "DummyUnitObserverApp.h"
#include <Core/core/logging/Logging.h>
int main(int argc, char* argv[])
{
armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::DummyUnitObserverApp>();
app->setName("DummyUnitObserver");
return app->main(argc, argv);
}
source/RobotAPI/interface/CMakeLists.txt
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......@@ -9,7 +9,6 @@ set(SLICE_FILES
observers/KinematicUnitObserverInterface.ice
observers/PlatformUnitObserverInterface.ice
observers/DummyUnitObserverInterface.ice
robotstate/LinkedPoseBase.ice
robotstate/PoseBase.ice
......@@ -27,7 +26,6 @@ set(SLICE_FILES
units/TCPControlUnit.ice
units/TCPMoverUnitInterface.ice
units/UnitInterface.ice
units/DummyUnitInterface.ice
)
# generate the interface library
......
source/RobotAPI/interface/observers/DummyUnitObserverInterface.ice deleted 100644 → 0
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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* 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 RobotAPI::units
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#ifndef _ARMARX_CORE_DUMMY_UNIT_OBSERVER_SLICE_
#define _ARMARX_CORE_DUMMY_UNIT_OBSERVER_SLICE_
#include <RobotAPI/interface/units/DummyUnitInterface.ice>
#include <Core/interface/observers/ObserverInterface.ice>
module armarx
{
interface DummyUnitObserverInterface extends ObserverInterface, DummyUnitListener
{
};
};
#endif
source/RobotAPI/interface/units/DummyUnitInterface.ice deleted 100644 → 0
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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* 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 ArmarX::RobotAPI
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @copyright 2014
* @license http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#ifndef _ARMARX_CORE_DUMMYUNIT_SLICE_
#define _ARMARX_CORE_DUMMYUNIT_SLICE_
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <Core/interface/observers/VariantBase.ice>
#include <Core/interface/observers/ObserverInterface.ice>
/*
* The DummyUnit is a SensorActorUnit that is only implemented for documentation
* purposes. It is designed to be a minimum working example and has no real use.
*/
module armarx
{
interface DummyUnitInterface extends SensorActorUnitInterface
{
void setPeriodicValue(VariantBase value);
};
interface DummyUnitListener
{
void reportPeriodicValue(VariantBase value);
};
};
#endif
source/RobotAPI/units/CMakeLists.txt
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......@@ -47,8 +47,6 @@ set(LIB_HEADERS
KinematicUnitObserver.h
PlatformUnitObserver.h
SensorActorUnit.h
DummyUnit.h
DummyUnitObserver.h
)
set(LIB_FILES
......@@ -71,8 +69,6 @@ set(LIB_FILES
KinematicUnitObserver.cpp
PlatformUnitObserver.cpp
SensorActorUnit.cpp
DummyUnit.cpp
DummyUnitObserver.cpp
)
armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
source/RobotAPI/units/DummyUnit.cpp deleted 100644 → 0
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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* 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 RobotAPI::units
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#include "DummyUnit.h"
using namespace armarx;
void DummyUnit::onInitComponent()
{
period = getProperty<int>("ReportPeriod").getValue();
periodicValue = VariantPtr(new Variant(10));
offeringTopic("PeriodicDummyValue");
}
void DummyUnit::onConnectComponent()
{
listenerPrx = getTopic<DummyUnitListenerPrx>("PeriodicDummyValue");
if(periodicTask)
{
periodicTask->stop();
}
periodicTask = new PeriodicTask<DummyUnit>(this, &DummyUnit::reportValue, period, false, "DummyValueProducer");
periodicTask->start();
}
void DummyUnit::onExitComponent()
{
}
void DummyUnit::setPeriodicValue(const VariantBasePtr &value, const Ice::Current &c)
{
periodicValue = VariantPtr::dynamicCast(value);
}
PropertyDefinitionsPtr DummyUnit::createPropertyDefinitions()
{
return PropertyDefinitionsPtr(new DummyUnitPropertyDefinitions(getConfigIdentifier()));
}
void DummyUnit::reportValue()
{
listenerPrx->reportPeriodicValue(periodicValue);
}
source/RobotAPI/units/DummyUnit.h deleted 100644 → 0
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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* 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 RobotAPI::units
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#ifndef _ARMARX_COMPONENT_DUMMY_UNIT_H
#define _ARMARX_COMPONENT_DUMMY_UNIT_H
#include <RobotAPI/units/SensorActorUnit.h>
#include <Core/core/Component.h>
#include <Core/core/application/properties/Properties.h>
#include <Core/core/system/ImportExportComponent.h>
#include <Core/observers/variant/Variant.h>
#include <Core/core/services/tasks/PeriodicTask.h>
#include <RobotAPI/interface/units/DummyUnitInterface.h>
namespace armarx
{
class DummyUnitPropertyDefinitions:
public ComponentPropertyDefinitions
{
public:
DummyUnitPropertyDefinitions(std::string prefix):
ComponentPropertyDefinitions(prefix)
{
defineRequiredProperty<int>("ReportPeriod","The unit's reporting period in ms");
}
};
class DummyUnit :
virtual public DummyUnitInterface,
virtual public SensorActorUnit
{
public:
virtual std::string getDefaultName() const { return "DummyUnit"; }
virtual void onInitComponent();
virtual void onConnectComponent();
virtual void onExitComponent();
virtual void setPeriodicValue(const VariantBasePtr &value, const Ice::Current& c = ::Ice::Current());
virtual PropertyDefinitionsPtr createPropertyDefinitions();
protected:
void reportValue();
DummyUnitListenerPrx listenerPrx;
PeriodicTask<DummyUnit>::pointer_type periodicTask;
int period;
VariantPtr periodicValue;
};
}
#endif
source/RobotAPI/units/DummyUnitObserver.cpp deleted 100644 → 0
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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* 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 RobotAPI::units
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#include "DummyUnitObserver.h"
armarx::DummyUnitObserver::DummyUnitObserver()
{
}
void armarx::DummyUnitObserver::onInitObserver()
{
usingTopic("PeriodicDummyValue");
}
void armarx::DummyUnitObserver::onConnectObserver()
{
}
void armarx::DummyUnitObserver::reportPeriodicValue(const armarx::VariantBasePtr &value, const Ice::Current &)
{
ARMARX_INFO << VariantPtr::dynamicCast(value);
}
armarx::PropertyDefinitionsPtr armarx::DummyUnitObserver::createPropertyDefinitions()
{
return armarx::PropertyDefinitionsPtr(new DummyUnitPropertyDefinitions(getConfigIdentifier()));
}
source/RobotAPI/units/DummyUnitObserver.h deleted 100644 → 0
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/*
* This file is part of ArmarX.
*
* ArmarX is free software; you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation; either version 2 of
* the License, or (at your option) any later version.
*
* ArmarX is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* 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 RobotAPI::units
* @author Peter Kaiser (peter dot kaiser at kit dot edu)
* @date 2014
* @copyright http://www.gnu.org/licenses/gpl.txt
* GNU General Public License
*/
#ifndef _ARMARX_ROBOTAPI_DUMMYUNIT_OBSERVER_H
#define _ARMARX_ROBOTAPI_DUMMYUNIT_OBSERVER_H
#include <RobotAPI/interface/observers/DummyUnitObserverInterface.h>
#include <Core/observers/Observer.h>
#include <Core/core/application/properties/Properties.h>
namespace armarx
{
class DummyUnitPropertyDefinitions : public ComponentPropertyDefinitions
{
public:
DummyUnitPropertyDefinitions(std::string prefix) :
ComponentPropertyDefinitions(prefix)
{
// No required properties
}
};
class DummyUnitObserver :
virtual public Observer,
virtual public DummyUnitObserverInterface
{
public:
DummyUnitObserver();
virtual std::string getDefaultName() const { return "DummyUnitObserver"; }
void onInitObserver();
void onConnectObserver();
void reportPeriodicValue(const VariantBasePtr &value, const ::Ice::Current& = ::Ice::Current());
virtual PropertyDefinitionsPtr createPropertyDefinitions();
};
}
#endif
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