From aa1ccc5682e050b81b40b9a6baf77688f73c6014 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 26 Sep 2024 16:41:51 +0200
Subject: [PATCH] ObjectPoseProviderPlugin: using Proxy instead of Topic
---
.../plugins/ObjectPoseProviderPlugin.cpp | 54 +++++++++----------
.../plugins/ObjectPoseProviderPlugin.h | 30 ++++-------
2 files changed, 37 insertions(+), 47 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.cpp b/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.cpp
index 6aef209e6..ca1aab83a 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.cpp
@@ -2,43 +2,48 @@
#include <ArmarXCore/core/Component.h>
-
namespace armarx::plugins
{
- void ObjectPoseProviderPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+ void
+ ObjectPoseProviderPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
{
if (!properties->hasDefinition(makePropertyName(PROPERTY_NAME)))
{
properties->defineOptionalProperty<std::string>(
- makePropertyName(PROPERTY_NAME),
- "ObjectPoseTopic",
- "Name of the object pose topic.");
+ makePropertyName(PROPERTY_NAME), "ObjectMemory", "Name of the object memory.");
}
}
- void ObjectPoseProviderPlugin::preOnInitComponent()
+ void
+ ObjectPoseProviderPlugin::preOnInitComponent()
{
- parent<Component>().offeringTopicFromProperty(makePropertyName(PROPERTY_NAME));
+ parent<Component>().usingProxyFromProperty(makePropertyName(PROPERTY_NAME));
}
- void ObjectPoseProviderPlugin::preOnConnectComponent()
+ void
+ ObjectPoseProviderPlugin::preOnConnectComponent()
{
- parent<ObjectPoseProviderPluginUser>().objectPoseTopic = createObjectPoseTopic();
+ parent<ObjectPoseProviderPluginUser>().objectPoseTopic =
+ parent<Component>().getProxyFromProperty<objpose::ObjectPoseStorageInterfacePrx>(
+ makePropertyName(PROPERTY_NAME));
}
- void ObjectPoseProviderPlugin::postOnConnectComponent()
+ void
+ ObjectPoseProviderPlugin::postOnConnectComponent()
{
- ObjectPoseProviderPluginUser& parent = this->parent<ObjectPoseProviderPluginUser>();
- objpose::ObjectPoseTopicPrx& topic = parent.objectPoseTopic;
- if (topic)
+ auto& parent = this->parent<ObjectPoseProviderPluginUser>();
+ if (parent.objectPoseTopic)
{
objpose::ProviderInfo info = parent.getProviderInfo();
if (!info.proxy)
{
- info.proxy = ::armarx::objpose::ObjectPoseProviderPrx::checkedCast(parent.getProxy());
+ info.proxy =
+ ::armarx::objpose::ObjectPoseProviderPrx::checkedCast(parent.getProxy());
}
- topic->reportProviderAvailable(parent.getName(), info);
+
+ ARMARX_INFO << "Reporting provider `" << parent.getName() << "` availability.";
+ parent.objectPoseTopic->reportProviderAvailable(parent.getName(), info);
}
else
{
@@ -46,13 +51,7 @@ namespace armarx::plugins
}
}
- objpose::ObjectPoseTopicPrx ObjectPoseProviderPlugin::createObjectPoseTopic()
- {
- return parent<Component>().getTopicFromProperty<objpose::ObjectPoseTopicPrx>(makePropertyName(PROPERTY_NAME));
- }
-
-}
-
+} // namespace armarx::plugins
namespace armarx
{
@@ -62,7 +61,10 @@ namespace armarx
addPlugin(plugin);
}
- objpose::provider::RequestObjectsOutput ObjectPoseProviderPluginUser::requestObjects(const objpose::provider::RequestObjectsInput& input, const Ice::Current&)
+ objpose::provider::RequestObjectsOutput
+ ObjectPoseProviderPluginUser::requestObjects(
+ const objpose::provider::RequestObjectsInput& input,
+ const Ice::Current&)
{
// ARMARX_INFO << "Requested " << input.objectIDs.size() << " objects for " << input.relativeTimeoutMS << " ms.";
objpose::provider::RequestObjectsOutput output;
@@ -73,9 +75,5 @@ namespace armarx
return output;
}
- objpose::ObjectPoseTopicPrx ObjectPoseProviderPluginUser::createObjectPoseTopic()
- {
- return plugin->createObjectPoseTopic();
- }
-}
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.h b/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.h
index 1d0191ed6..6e7fd2ebb 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.h
@@ -3,7 +3,7 @@
#include <ArmarXCore/core/ComponentPlugin.h>
#include <RobotAPI/interface/objectpose/ObjectPoseProvider.h>
-
+#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
namespace armarx::plugins
{
@@ -11,7 +11,6 @@ namespace armarx::plugins
class ObjectPoseProviderPlugin : public ComponentPlugin
{
public:
-
using ComponentPlugin::ComponentPlugin;
void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
@@ -20,17 +19,12 @@ namespace armarx::plugins
void preOnConnectComponent() override;
void postOnConnectComponent() override;
- objpose::ObjectPoseTopicPrx createObjectPoseTopic();
-
-
private:
-
- static constexpr const char* PROPERTY_NAME = "ObjectPoseTopicName";
+ static constexpr const char* PROPERTY_NAME = "ObjectMemoryName";
};
-}
-
+} // namespace armarx::plugins
#include <ArmarXCore/core/ManagedIceObject.h>
@@ -41,24 +35,22 @@ namespace armarx
* @brief Provides an `objpose::ObjectPoseTopicPrx objectPoseTopic` as member variable.
*/
class ObjectPoseProviderPluginUser :
- virtual public ManagedIceObject
- , virtual public objpose::ObjectPoseProvider
+ virtual public ManagedIceObject,
+ virtual public objpose::ObjectPoseProvider
{
public:
-
ObjectPoseProviderPluginUser();
/// Implement to process object requests (empty default implementation).
- objpose::provider::RequestObjectsOutput requestObjects(const objpose::provider::RequestObjectsInput& input, const Ice::Current&) override;
-
- objpose::ObjectPoseTopicPrx createObjectPoseTopic();
+ objpose::provider::RequestObjectsOutput
+ requestObjects(const objpose::provider::RequestObjectsInput& input,
+ const Ice::Current&) override;
- objpose::ObjectPoseTopicPrx objectPoseTopic;
+ // objpose::ObjectPoseStorageInterfacePrx createObjectPoseStorage();
+ objpose::ObjectPoseStorageInterfacePrx objectPoseTopic;
private:
-
armarx::plugins::ObjectPoseProviderPlugin* plugin = nullptr;
-
};
-}
+} // namespace armarx
--
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