Improve RobotStateComponentPlugin

* add RobotNameHelper
* add ctor

source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt

@@ -7,6 +7,7 @@ set(LIBS
     RobotAPICore
     DebugDrawer
     diffik
+    RobotStatechartHelpers
 )
 
 set(LIB_FILES

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp

@@ -25,6 +25,18 @@
 
 namespace armarx::plugins
 {
+    const RobotNameHelper& RobotStateComponentPlugin::getRobotNameHelper() const
+    {
+        ARMARX_CHECK_NOT_NULL(_nameHelper);
+        return *_nameHelper;
+    }
+    void RobotStateComponentPlugin::setRobotStateComponent(const RobotStateComponentInterfacePrx& rsc)
+    {
+        ARMARX_CHECK_NOT_NULL(rsc);
+        ARMARX_CHECK_NULL(_robotStateComponent);
+        _robotStateComponent = rsc;
+    }
+
     bool RobotStateComponentPlugin::hasRobot(const std::string& id) const
     {
         std::lock_guard {_robotsMutex};
@@ -130,7 +142,7 @@ namespace armarx::plugins
         }
     }
 
-    RobotStateComponentInterfacePrx RobotStateComponentPlugin::getRobotStateComponent()
+    const RobotStateComponentInterfacePrx& RobotStateComponentPlugin::getRobotStateComponent() const
     {
         return _robotStateComponent;
     }
@@ -216,6 +228,7 @@ namespace armarx::plugins
         {
             parent<Component>().getProxy(_robotStateComponent, _robotStateComponentName);
         }
+        _nameHelper = std::make_shared<RobotNameHelper>(_robotStateComponent->getRobotInfo());
     }
 
     void RobotStateComponentPlugin::postOnDisconnectComponent()
@@ -279,7 +292,11 @@ namespace armarx
 
     const RobotStateComponentInterfacePrx& RobotStateComponentPluginUser::getRobotStateComponent() const
     {
-        return _robotStateComponentPlugin->_robotStateComponent;
+        return getRobotStateComponentPlugin().getRobotStateComponent();
+    }
+    const RobotNameHelper& RobotStateComponentPluginUser::getRobotNameHelper() const
+    {
+        return getRobotStateComponentPlugin().getRobotNameHelper();
     }
 
     bool RobotStateComponentPluginUser::hasRobot(const std::string& id) const

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h

@@ -29,6 +29,7 @@
 
 #include <ArmarXCore/core/Component.h>
 
+#include <RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h>
 #include <RobotAPI/interface/core/RobotState.h>
 #include <RobotAPI/libraries/diffik/SimpleDiffIK.h>
 
@@ -54,6 +55,7 @@ namespace armarx::plugins
         using ComponentPlugin::ComponentPlugin;
 
         void setRobotStateComponentName(const std::string& name);
+        void setRobotStateComponent(const RobotStateComponentInterfacePrx& rsc);
         const std::string& getRobotStateComponentName() const;
         //get / add
     public:
@@ -86,7 +88,9 @@ namespace armarx::plugins
         RobotData getRobotData(const std::string& id) const;
         void setRobotRNSAndNode(const std::string& id, const std::string& rnsName, const std::string& nodeName);
 
-        RobotStateComponentInterfacePrx getRobotStateComponent();
+        const RobotStateComponentInterfacePrx& getRobotStateComponent() const;
+
+        const RobotNameHelper& getRobotNameHelper() const;
         //sync
     public:
         bool synchronizeLocalClone(const VirtualRobot::RobotPtr& robot) const;
@@ -137,12 +141,13 @@ namespace armarx::plugins
                 const SimpleDiffIK::Parameters& params = {}) const;
         };
         //data
-    public:
+    private:
         static constexpr auto            _propertyName = "RemoteStateComponentName";
         std::string                      _robotStateComponentName;
         RobotStateComponentInterfacePrx  _robotStateComponent;
         mutable std::recursive_mutex     _robotsMutex;
         std::map<std::string, RobotData> _robots;
+        RobotNameHelperPtr               _nameHelper;
     };
 }
 
@@ -162,6 +167,7 @@ namespace armarx
 
         const RobotStateComponentInterfacePrx& getRobotStateComponent() const;
 
+        const RobotNameHelper& getRobotNameHelper() const;
         //get / add
     public:
         bool hasRobot(const std::string& id) const;