Fix AronComponentConfigExample

source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp

@@ -28,43 +28,87 @@
 namespace armarx
 {
 
-    void AronComponentConfigExample::onInitComponent()
+    void
+    AronComponentConfigExample::onInitComponent()
     {
 
     }
 
-    void AronComponentConfigExample::onConnectComponent()
+    void
+    AronComponentConfigExample::onConnectComponent()
     {
+        remote_gui_plugin_->createOrUpdateTab(aron_component_config_plugin_->buildRemoteGui("Config"),
+                                              [this](armarx::RemoteGui::TabProxy& prx)
+                                              {
+                                                  prx.receiveUpdates();
+                                                  std::lock_guard lock(write_mutex);
+                                                  if (aron_component_config_plugin_->updateRemoteGui(prx))
+                                                  {
+                                                      remote_gui_plugin_->createOrUpdateTab("",
+                                                                                            aron_component_config_plugin_
+                                                                                                    ->buildRemoteGui(
+                                                                                                            "Config"));
+                                                  }
+                                                  prx.sendUpdates();
+                                              });
+        periodicTask = new SimplePeriodicTask<>([&, this]
+                                                {
+                                                    std::lock_guard lock(write_mutex);
+                                                    ARMARX_TRACE;
+                                                    auto& config =
+                                                            aron_component_config_plugin_->config_.getWriteBuffer();
+                                                    config.intMember--;
+                                                    aron_component_config_plugin_->config_.commitWrite();
+                                                }, 1000);
+        periodicTask->start();
     }
 
-    void AronComponentConfigExample::onDisconnectComponent()
+    void
+    AronComponentConfigExample::onDisconnectComponent()
     {
     }
 
-    void AronComponentConfigExample::onExitComponent()
+    void
+    AronComponentConfigExample::onExitComponent()
     {
     }
 
-    armarx::PropertyDefinitionsPtr AronComponentConfigExample::createPropertyDefinitions()
+    armarx::PropertyDefinitionsPtr
+    AronComponentConfigExample::createPropertyDefinitions()
     {
         armarx::PropertyDefinitionsPtr defs = new AronComponentConfigExamplePropertyDefinitions(getConfigIdentifier());
-        auto& config = getConfigWriteBuffer();
-        config.boolMember=true;
-        config.floatMember=100.0f;
-        config.intMember=1000;
-        config.stringMember="initial";
-        config.longMember=0;
-        config.subMember.subsubMember.intListMember.insert(config.subMember.subsubMember.intListMember.end(), { 1, 2, 3, 4, 5, 6 });
-        config.subMember.subsubMember.stringListMember.insert(config.subMember.subsubMember.stringListMember.end(), {"a", "b", "c", "d", "e"});
-        commitConfigWriteBuffer();
+        auto& config = aron_component_config_plugin_->config_.getWriteBuffer();
+        config.boolMember = true;
+        config.floatMember = 100.0f;
+        config.intMember = 1000;
+        config.stringMember = "initial";
+        config.longMember = 0;
+        config.subMember
+              .subsubMember
+              .intListMember
+              .insert(config.subMember.subsubMember.intListMember.end(), {1, 2, 3, 4, 5, 6});
+        config.subMember
+              .subsubMember
+              .stringListMember
+              .insert(config.subMember.subsubMember.stringListMember.end(), {"a", "b", "c", "d", "e"});
+        aron_component_config_plugin_->config_.commitWrite();
         return defs;
     }
 
-    std::string AronComponentConfigExample::getDefaultName() const
+    std::string
+    AronComponentConfigExample::getDefaultName() const
     {
         return "ComponentConfigTest";
     }
 
+    AronComponentConfigExample::AronComponentConfigExample()
+    {
+        addPlugin(remote_gui_plugin_, "");
+        addPlugin(aron_component_config_plugin_, "");
+    }
+
     AronComponentConfigExamplePropertyDefinitions::AronComponentConfigExamplePropertyDefinitions(std::string prefix) :
-            armarx::ComponentPropertyDefinitions(std::move(prefix)) {}
+            armarx::ComponentPropertyDefinitions(std::move(prefix))
+    {
+    }
 }
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source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.h

@@ -37,7 +37,6 @@ namespace armarx
     };
 
     class AronComponentConfigExample :
-            virtual public armarx::AronComponentConfigPluginUser<armarx::component_config::aron::TestConfig>,
             virtual public armarx::Component
     {
     public:
@@ -58,5 +57,13 @@ namespace armarx
         /// @see PropertyUser::createPropertyDefinitions()
         armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
 
+        AronComponentConfigExample();
+    private:
+        SimplePeriodicTask<>::pointer_type periodicTask;
+        std::experimental::observer_ptr<plugins::RemoteGuiComponentPlugin> remote_gui_plugin_{nullptr};
+        std::experimental::observer_ptr<plugins::AronComponentConfigPlugin<armarx::component_config::aron::TestConfig>>
+                aron_component_config_plugin_{nullptr};
+        std::mutex write_mutex;
+
     };
 }
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source/RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.xml

@@ -39,6 +39,16 @@
                     <int/>
                 </List>
             </ObjectChild>
+            <ObjectChild key='stringDictMember'>
+                <Dict>
+                    <string/>
+                </Dict>
+            </ObjectChild>
+            <ObjectChild key='intDictMember'>
+                <Dict>
+                    <int/>
+                </Dict>
+            </ObjectChild>
         </Object>
 
         <Object name='armarx::component_config::aron::SubConfig'>

source/RobotAPI/libraries/aron_component_config/ComponentPlugin.h

@@ -86,10 +86,9 @@ namespace armarx::plugins
             return RemoteGui::makeConfigGui(name, config_.getUpToDateReadBuffer());
         }
 
-        bool updateRemoteGui(armarx::RemoteGui::TabProxy& prx)
+        bool updateRemoteGui(armarx::RemoteGui::TabProxy& prx) // prx has to be already updated; otherwise nothing will change
         {
             ARMARX_TRACE;
-            prx.receiveUpdates();
             armarx::aron::component_config::GetValueFromMapVisitor vis(&prx);
             auto& cfg = config_.getWriteBuffer();
             auto data = std::static_pointer_cast<armarx::aron::data::Variant>(cfg.toAron());
@@ -107,56 +106,5 @@ namespace armarx::plugins
 
         armarx::WriteBufferedTripleBuffer<AronStructT> config_;
 
-    };
-}
-
-namespace armarx
-{
-    template <typename AronStructT>
-    requires plugins::isAronGenerated<AronStructT>
-    class AronComponentConfigPluginUser : virtual public ManagedIceObject
-    {
-    public:
-        void onConnectComponent() override
-        {
-            remote_gui_plugin_->createOrUpdateTab(aron_component_config_plugin_->buildRemoteGui("Config"),
-                                                  [this](armarx::RemoteGui::TabProxy& prx)
-                                                  {
-                                                      if (aron_component_config_plugin_->updateRemoteGui(prx))
-                                                      {
-                                                          remote_gui_plugin_->createOrUpdateTab("",
-                                                                                                aron_component_config_plugin_
-                                                                                                        ->buildRemoteGui(
-                                                                                                                "Config"));
-                                                      }
-                                                  });
-        }
-
-        AronComponentConfigPluginUser()
-        {
-            addPlugin(remote_gui_plugin_, "");
-            addPlugin(aron_component_config_plugin_, "");
-        }
-
-        AronStructT& getConfigWriteBuffer()
-        {
-            return aron_component_config_plugin_->config_.getWriteBuffer();
-        }
-
-        void commitConfigWriteBuffer()
-        {
-            aron_component_config_plugin_->config_.commitWrite();
-        }
-
-        const AronStructT& getUpToDateConfigReadBuffer() const
-        {
-            return aron_component_config_plugin_->config_.getUpToDateReadBuffer();
-        }
-
-    private:
-        std::experimental::observer_ptr<plugins::RemoteGuiComponentPlugin> remote_gui_plugin_{nullptr};
-        std::experimental::observer_ptr<plugins::AronComponentConfigPlugin<AronStructT>>
-                aron_component_config_plugin_{nullptr};
-
     };
 }
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