Merge branch 'MultiAgentSimulation' into 'master'

RobotStateComponentName is requested as optional parameter

RobotStateComponentName is requested as optional parameter which is required for multi agent state chart execution

See merge request !5

source/RobotAPI/components/units/HeadIKUnit.cpp

@@ -25,7 +25,7 @@ namespace armarx
         ScopedLock lock(accessMutex);
 
         usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
-        usingProxy("RobotStateComponent");
+        usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
         usingTopic(getProperty<std::string>("RobotStateTopicName").getValue());
 
 
@@ -43,7 +43,8 @@ namespace armarx
         drawer = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
 
         kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(getProperty<std::string>("KinematicUnitName").getValue());
-        robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent");
+        robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(getProperty<std::string>("RobotStateComponentName").getValue());
+
 
         //remoteRobotPrx = robotStateComponentPrx->getSynchronizedRobot();
         localRobot = RemoteRobot::createLocalClone(robotStateComponentPrx);

source/RobotAPI/components/units/HeadIKUnit.h

@@ -49,6 +49,7 @@ namespace armarx
             defineRequiredProperty<std::string>("KinematicUnitName", "Name of the KinematicUnit Proxy");
             defineOptionalProperty<std::string>("RobotStateTopicName", "RobotState", "Name of the RobotComponent State topic.");
             defineOptionalProperty<std::string>("HeadIKUnitTopicName", "HeadIKUnitTopic",  "Name of the HeadIKUnit Topic");
+            defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
             defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
         }
     };

source/RobotAPI/components/units/TCPControlUnit.cpp

@@ -54,7 +54,7 @@ namespace armarx
     {
         topicName = getName() + "State";
         usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
-        usingProxy("RobotStateComponent");
+        usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
         usingProxy("DebugObserver");
         offeringTopic(topicName);
         usingTopic(getProperty<std::string>("RobotStateTopicName").getValue());
@@ -70,7 +70,8 @@ namespace armarx
 
         debugObs  = getProxy<DebugObserverInterfacePrx>("DebugObserver");
         kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(getProperty<std::string>("KinematicUnitName").getValue());
-        robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent");
+        robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(getProperty<std::string>("RobotStateComponentName").getValue());
+
 
         //remoteRobotPrx = robotStateComponentPrx->getSynchronizedRobot();
 
@@ -180,7 +181,7 @@ namespace armarx
 
     void TCPControlUnit::setTCPVelocity(const std::string& nodeSetName, const std::string& tcpName, const FramedDirectionBasePtr& translationVelocity, const FramedDirectionBasePtr& orientationVelocityRPY, const Ice::Current& c)
     {
-        if(!isRequested())
+        if (!isRequested())
         {
             ARMARX_WARNING << "Implicitly requesting TCPControlUnit! Please call request before setting TCPVelocities!";
             request();

source/RobotAPI/components/units/TCPControlUnit.h

@@ -52,6 +52,7 @@ namespace armarx
             defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
             defineOptionalProperty<float>("MaximumCommandDelay", 20000, "Delay after which the TCP Control unit releases itself if no new velocity have been set.");
             defineOptionalProperty<std::string>("TCPsToReport", "", "comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none");
+            defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
 
 
         }

source/RobotAPI/libraries/core/RobotStatechartContext.cpp

@@ -41,7 +41,7 @@ namespace armarx
         kinematicUnitObserverName = getProperty<std::string>("KinematicUnitObserverName").getValue();
 
         usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
-        usingProxy("RobotStateComponent");
+        usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
         usingProxy(kinematicUnitObserverName);
 
         if (!getProperty<std::string>("HandUnits").getValue().empty())
@@ -74,7 +74,7 @@ namespace armarx
         ARMARX_LOG << eINFO << "Starting RobotStatechartContext" << flush;
 
         // retrieve proxies
-        std::string rbStateName = "RobotStateComponent";
+        std::string rbStateName = getProperty<std::string>("RobotStateComponentName").getValue();
         robotStateComponent = getProxy<RobotStateComponentInterfacePrx>(rbStateName);
         std::string kinUnitName = getProperty<std::string>("KinematicUnitName").getValue();
         kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(kinUnitName);

source/RobotAPI/libraries/core/RobotStatechartContext.h

@@ -55,6 +55,8 @@ namespace armarx
             defineOptionalProperty<std::string>("HandUnits", "", "Name of the comma-seperated hand units that should be used. Unitname for left hand should be LeftHandUnit, and for right hand RightHandUnit");
             defineOptionalProperty<std::string>("HeadIKUnitName", "", "Name of the head unit that should be used.");
             defineOptionalProperty<std::string>("HeadIKKinematicChainName", "", "Name of the kinematic chain that should be used for head IK.");
+            defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
+
         }
     };