From 9f7ed66896eedfcbeed7cdff96f01fe844715c7d Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Wed, 3 Jun 2020 16:44:24 +0200
Subject: [PATCH] Change CartesianWaypointControlGuiWidgetController to use
RobotUnitComponentPlugi
---
.../CartesianWaypointControlGui/CMakeLists.txt | 6 +-----
.../CartesianWaypointControlGuiWidgetController.cpp | 10 ++++------
.../CartesianWaypointControlGuiWidgetController.h | 6 +++---
3 files changed, 8 insertions(+), 14 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CMakeLists.txt b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CMakeLists.txt
index 38578c06d..1b2caffb7 100644
--- a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CMakeLists.txt
@@ -17,12 +17,8 @@ set(GUI_MOC_HDRS ${HEADERS})
set(GUI_UIS CartesianWaypointControlGuiWidget.ui)
set(COMPONENT_LIBS
- VirtualRobot
-
SimpleConfigDialog
-
- RobotAPIInterfaces
- RobotAPICore
+ RobotAPIComponentPlugins
)
if(ArmarXGui_FOUND)
diff --git a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
index 5d2d12234..45f540062 100644
--- a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
@@ -59,21 +59,20 @@ namespace armarx
{
std::lock_guard g{_allMutex};
_robotStateComponentName = settings->value("rsc", "Armar6StateComponent").toString().toStdString();
- _robotUnitName = settings->value("ru", "Armar6Unit").toString().toStdString();
+ getRobotUnitComponentPlugin().setRobotUnitName(settings->value("ru", "Armar6Unit").toString().toStdString());
}
void CartesianWaypointControlGuiWidgetController::saveSettings(QSettings* settings)
{
std::lock_guard g{_allMutex};
settings->setValue("rsc", QString::fromStdString(_robotStateComponentName));
- settings->setValue("ru", QString::fromStdString(_robotUnitName));
+ settings->setValue("ru", QString::fromStdString(getRobotUnitComponentPlugin().getRobotUnitName()));
}
void CartesianWaypointControlGuiWidgetController::onInitComponent()
{
std::lock_guard g{_allMutex};
usingProxy(_robotStateComponentName);
- usingProxy(_robotUnitName);
}
void CartesianWaypointControlGuiWidgetController::onConnectComponent()
@@ -82,7 +81,6 @@ namespace armarx
//proxies
{
_robotStateComponent = getProxy<RobotStateComponentInterfacePrx>(_robotStateComponentName);
- _robotUnit = getProxy<RobotUnitInterfacePrx>(_robotUnitName);
}
//robot
{
@@ -135,7 +133,7 @@ namespace armarx
ARMARX_IMPORTANT << "Creating " << njointControllerClassName << " '"
<< _controllerName << "'";
_controller = NJointCartesianWaypointControllerInterfacePrx::checkedCast(
- _robotUnit->createNJointController(
+ getRobotUnit()->createNJointController(
njointControllerClassName,
_controllerName,
cfg));
@@ -200,7 +198,7 @@ namespace armarx
{
std::lock_guard g{_allMutex};
_robotStateComponentName = _dialog->getProxyName("rsc");
- _robotUnitName = _dialog->getProxyName("ru");
+ getRobotUnitComponentPlugin().setRobotUnitName(_dialog->getProxyName("ru"));
}
void CartesianWaypointControlGuiWidgetController::triggerParsing()
diff --git a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.h b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.h
index ae6961634..338c46f93 100644
--- a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.h
+++ b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.h
@@ -34,6 +34,7 @@
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
#include <RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
#include <RobotAPI/gui-plugins/CartesianWaypointControlGui/ui_CartesianWaypointControlGuiWidget.h>
@@ -59,7 +60,8 @@ namespace armarx
*/
class ARMARXCOMPONENT_IMPORT_EXPORT
CartesianWaypointControlGuiWidgetController:
- public armarx::ArmarXComponentWidgetControllerTemplate < CartesianWaypointControlGuiWidgetController >
+ public armarx::ArmarXComponentWidgetControllerTemplate < CartesianWaypointControlGuiWidgetController >,
+ public virtual RobotUnitComponentPluginUser
{
Q_OBJECT
@@ -106,9 +108,7 @@ namespace armarx
private:
std::string _robotStateComponentName;
- std::string _robotUnitName;
RobotStateComponentInterfacePrx _robotStateComponent;
- RobotUnitInterfacePrx _robotUnit;
Ui::CartesianWaypointControlGuiWidget _ui;
QPointer<SimpleConfigDialog> _dialog;
NJointCartesianWaypointControllerInterfacePrx _controller;
--
GitLab