From a160e521dccda8608c5a6e90ae83d57efe72d13e Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Thu, 4 Jun 2020 08:56:08 +0200
Subject: [PATCH] Use RobotStateComponentPlugin
---
...esianWaypointControlGuiWidgetController.cpp | 18 ++++++------------
...rtesianWaypointControlGuiWidgetController.h | 6 +++---
2 files changed, 9 insertions(+), 15 deletions(-)
diff --git a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
index 45f540062..5348bcaaa 100644
--- a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.cpp
@@ -58,33 +58,27 @@ namespace armarx
void CartesianWaypointControlGuiWidgetController::loadSettings(QSettings* settings)
{
std::lock_guard g{_allMutex};
- _robotStateComponentName = settings->value("rsc", "Armar6StateComponent").toString().toStdString();
+ getRobotStateComponentPlugin().setRobotStateComponentName(settings->value("rsc", "Armar6StateComponent").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("rsc", QString::fromStdString(getRobotStateComponentPlugin().getRobotStateComponentName()));
settings->setValue("ru", QString::fromStdString(getRobotUnitComponentPlugin().getRobotUnitName()));
}
void CartesianWaypointControlGuiWidgetController::onInitComponent()
{
- std::lock_guard g{_allMutex};
- usingProxy(_robotStateComponentName);
}
void CartesianWaypointControlGuiWidgetController::onConnectComponent()
{
std::lock_guard g{_allMutex};
- //proxies
- {
- _robotStateComponent = getProxy<RobotStateComponentInterfacePrx>(_robotStateComponentName);
- }
//robot
{
- _robot = RemoteRobot::createLocalCloneFromFile(_robotStateComponent, VirtualRobot::RobotIO::eStructure);
+ _robot = addRobot("state robot", VirtualRobot::RobotIO::eStructure);
}
//fill rns combo box
{
@@ -197,7 +191,7 @@ namespace armarx
void CartesianWaypointControlGuiWidgetController::configured()
{
std::lock_guard g{_allMutex};
- _robotStateComponentName = _dialog->getProxyName("rsc");
+ getRobotStateComponentPlugin().setRobotStateComponentName(_dialog->getProxyName("rsc"));
getRobotUnitComponentPlugin().setRobotUnitName(_dialog->getProxyName("ru"));
}
@@ -281,11 +275,11 @@ namespace armarx
void CartesianWaypointControlGuiWidgetController::timerEvent(QTimerEvent*)
{
std::lock_guard g{_allMutex};
- if (!_robot || !_robotStateComponent)
+ if (!_robot)
{
return;
}
- RemoteRobot::synchronizeLocalClone(_robot, _robotStateComponent);
+ synchronizeLocalClone(_robot);
if (_controller)
{
ARMARX_INFO << deactivateSpam() << "setting visu gp to:\n" << _robot->getGlobalPose();
diff --git a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.h b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.h
index 338c46f93..fc6b1936d 100644
--- a/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.h
+++ b/source/RobotAPI/gui-plugins/CartesianWaypointControlGui/CartesianWaypointControlGuiWidgetController.h
@@ -35,6 +35,7 @@
#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
#include <RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>
#include <RobotAPI/gui-plugins/CartesianWaypointControlGui/ui_CartesianWaypointControlGuiWidget.h>
@@ -61,7 +62,8 @@ namespace armarx
class ARMARXCOMPONENT_IMPORT_EXPORT
CartesianWaypointControlGuiWidgetController:
public armarx::ArmarXComponentWidgetControllerTemplate < CartesianWaypointControlGuiWidgetController >,
- public virtual RobotUnitComponentPluginUser
+ public virtual RobotUnitComponentPluginUser,
+ public virtual RobotStateComponentPluginUser
{
Q_OBJECT
@@ -107,8 +109,6 @@ namespace armarx
void timerEvent(QTimerEvent*) override;
private:
- std::string _robotStateComponentName;
- RobotStateComponentInterfacePrx _robotStateComponent;
Ui::CartesianWaypointControlGuiWidget _ui;
QPointer<SimpleConfigDialog> _dialog;
NJointCartesianWaypointControllerInterfacePrx _controller;
--
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