From a9674159cb7934b0bb3466c155e31bd895fd3ff4 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 1 Feb 2023 18:39:56 +0100
Subject: [PATCH] virtual robot reader example: updating to latest version
---
.../VirtualRobotReaderExampleClient.cpp | 14 +++-----------
.../VirtualRobotReaderExampleClient.h | 8 ++++++--
2 files changed, 9 insertions(+), 13 deletions(-)
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
index 53e51cd0b..f3d1b870c 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
@@ -10,11 +10,7 @@
namespace armarx::robot_state
{
- VirtualRobotReaderExampleClient::VirtualRobotReaderExampleClient() :
- virtualRobotReader(this->memoryNameSystem())
- {
- }
-
+ VirtualRobotReaderExampleClient::VirtualRobotReaderExampleClient() = default;
armarx::PropertyDefinitionsPtr VirtualRobotReaderExampleClient::createPropertyDefinitions()
{
@@ -28,8 +24,6 @@ namespace armarx::robot_state
defs->optional(properties.updateFrequency, "p.updateFrequency [Hz]",
"The frequency of the running loop.");
- virtualRobotReader.registerPropertyDefinitions(defs);
-
return defs;
}
@@ -47,8 +41,6 @@ namespace armarx::robot_state
void VirtualRobotReaderExampleClient::onConnectComponent()
{
- virtualRobotReader.connect();
-
ARMARX_IMPORTANT << "Running virtual robot synchronization example.";
task = new SimpleRunningTask<>([this]()
@@ -83,7 +75,7 @@ namespace armarx::robot_state
// The TIMING_* macros are optional, you do not need them.
TIMING_START(getRobot);
- robot = virtualRobotReader.getRobot(properties.robotName, now);
+ robot = virtualRobotReaderPlugin->get().getRobot(properties.robotName, now);
if (robot)
{
// Only print timing once the robot is loadable & loaded.
@@ -99,7 +91,7 @@ namespace armarx::robot_state
ARMARX_INFO << deactivateSpam(60) << "Synchronizing robot.";
TIMING_START(synchronizeRobot);
- ARMARX_CHECK(virtualRobotReader.synchronizeRobot(*robot, now));
+ ARMARX_CHECK(virtualRobotReaderPlugin->get().synchronizeRobot(*robot, now));
TIMING_END_STREAM(synchronizeRobot, ARMARX_INFO);
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
index c5b194cb2..328f847e8 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
@@ -26,8 +26,8 @@
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/TaskUtil.h>
+#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
#include <RobotAPI/libraries/armem/client/plugins.h>
-
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
@@ -84,7 +84,11 @@ namespace armarx::robot_state
armarx::SimpleRunningTask<>::pointer_type task;
// The reader used to get the robot state.
- armem::robot_state::VirtualRobotReader virtualRobotReader;
+ template <typename T>
+ using ReaderWriterPlugin = armem::client::plugins::ReaderWriterPlugin<T>;
+
+ ReaderWriterPlugin<armem::robot_state::VirtualRobotReader>* virtualRobotReaderPlugin =
+ nullptr;
// The Simox robot model.
VirtualRobot::RobotPtr robot = nullptr;
--
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