Change topic to proxy connection for Hokuyo unit

source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp

@@ -24,6 +24,7 @@
 
 #include <SimoxUtility/algorithm/string/string_tools.h>
 
+#include "ArmarXCore/core/time/Clock.h"
 #include <ArmarXCore/core/time/DateTime.h>
 #include <ArmarXCore/core/time/Duration.h>
 #include <ArmarXCore/core/time/ice_conversions.h>
@@ -45,9 +46,9 @@ HokuyoLaserUnit::onInitComponent()
     offeringTopicFromProperty("RobotHealthTopicName");
     offeringTopicFromProperty("DebugObserverName");
 
-    topicName = getProperty<std::string>("LaserScannerTopicName").getValue();
-    offeringTopic(topicName);
-    ARMARX_INFO << "Going to report on topic " << topicName;
+    laserScannerListenerProxyName = getProperty<std::string>("LaserScannerListenerName").getValue();
+    usingProxyFromProperty("LaserScannerListenerName");
+    ARMARX_INFO << "Going to report to listener " << laserScannerListenerProxyName;
     updatePeriod = getProperty<int>("UpdatePeriod").getValue();
     angleOffset = getProperty<float>("AngleOffset").getValue();
 
@@ -92,7 +93,7 @@ HokuyoLaserUnit::onConnectComponent()
 {
     ARMARX_TRACE;
 
-    topic = getTopic<LaserScannerUnitListenerPrx>(topicName);
+    getProxyFromProperty(listenerPrx, "LaserScannerListenerName");
     debugObserver = getTopic<DebugObserverInterfacePrx>(
         getProperty<std::string>("DebugObserverName").getValue());
 
@@ -133,7 +134,7 @@ HokuyoLaserUnit::onConnectComponent()
         info.stepSize = (info.maxAngle - info.minAngle) / (maxStep - minStep);
         device.lengthData.resize(lengthDataSize);
 
-        device.scanTopic = topic;
+        device.listenerPrx = listenerPrx;
         device.robotHealthPlugin = heartbeat;
         device.debugObserver = debugObserver;
 
@@ -181,7 +182,7 @@ HokuyoLaserUnit::createPropertyDefinitions()
 std::string
 HokuyoLaserUnit::getReportTopicName(const Ice::Current&) const
 {
-    return topicName;
+    return laserScannerListenerProxyName;
 }
 
 LaserScannerInfoSeq
@@ -230,6 +231,8 @@ HokuyoLaserScanDevice::run()
     ARMARX_TRACE;
     while (!task->isStopped())
     {
+        ARMARX_INFO << deactivateSpam() << "Running update loop for laserscanner device " << ip;
+
         IceUtil::Time time_start = TimeUtil::GetTime();
 
         if (errorCounter > 10)
@@ -272,15 +275,16 @@ HokuyoLaserScanDevice::run()
 
             errorCounter = 0;
 
-            if (scanTopic)
+            if (listenerPrx)
             {
-                scanTopic->reportSensorValues(ip, frame, scan, now);
+
+                listenerPrx->reportSensorValues(ip, frame, scan, now);
             }
             else
             {
-                ARMARX_WARNING << "No scan topic available: IP: " << ip << ", Port: " << port;
+                ARMARX_WARNING << "No proxy available: IP: " << ip << ", Port: " << port;
             }
-            IceUtil::Time time_topicSensor = TimeUtil::GetTime();
+            IceUtil::Time time_proxyReport = TimeUtil::GetTime();
 
             if (robotHealthPlugin != nullptr)
             {
@@ -302,10 +306,10 @@ HokuyoLaserScanDevice::run()
                 new Variant((time_measure - time_start).toMilliSecondsDouble());
             durations["update_ms"] =
                 new Variant((time_update - time_measure).toMilliSecondsDouble());
-            durations["topic_sensor_ms"] =
-                new Variant((time_topicSensor - time_update).toMilliSecondsDouble());
+            durations["proxy_report_ms"] =
+                new Variant((time_proxyReport - time_update).toMilliSecondsDouble());
             durations["topic_health_ms"] =
-                new Variant((time_topicHeartbeat - time_topicSensor).toMilliSecondsDouble());
+                new Variant((time_topicHeartbeat - time_proxyReport).toMilliSecondsDouble());
             debugObserver->setDebugChannel(
                 "LaserScannerDuration_" + simox::alg::replace_all(ip, ".", "_"), durations);
 
@@ -318,9 +322,9 @@ HokuyoLaserScanDevice::run()
                                << "Update:    "
                                << (time_update - time_measure).toMilliSecondsDouble() << "ms\n"
                                << "TopicSensor: "
-                               << (time_topicSensor - time_update).toMilliSecondsDouble() << "ms\n"
+                               << (time_proxyReport - time_update).toMilliSecondsDouble() << "ms\n"
                                << "TopicHeart:  "
-                               << (time_topicHeartbeat - time_topicSensor).toMilliSecondsDouble()
+                               << (time_topicHeartbeat - time_proxyReport).toMilliSecondsDouble()
                                << "ms\n";
             }
         }

source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h

@@ -47,7 +47,7 @@ namespace armarx
             armarx::ComponentPropertyDefinitions(prefix)
         {
             defineOptionalProperty<std::string>(
-                "LaserScannerTopicName", "LaserScans", "Name of the laser scan topic.");
+                "LaserScannerListenerName", "CartographerMappingAndLocalization", "Name of the laser scan listener.");
             defineOptionalProperty<int>("UpdatePeriod", 25, "Update period for laser scans");
             defineOptionalProperty<float>("AngleOffset",
                                           -2.3561944902,
@@ -87,7 +87,7 @@ namespace armarx
         LaserScan scan;
 
         std::string componentName;
-        LaserScannerUnitListenerPrx scanTopic;
+        LaserScannerUnitListenerPrx listenerPrx;
         armarx::plugins::HeartbeatComponentPlugin* robotHealthPlugin;
         DebugObserverInterfacePrx debugObserver;
     };
@@ -150,8 +150,8 @@ namespace armarx
         LaserScannerInfoSeq getConnectedDevices(const Ice::Current& c) const override;
 
     private:
-        std::string topicName;
-        LaserScannerUnitListenerPrx topic;
+        std::string laserScannerListenerProxyName;
+        LaserScannerUnitListenerPrx listenerPrx;
         int updatePeriod = 25;
         float angleOffset = 0.0f;
         std::vector<HokuyoLaserScanDevice> devices;