From e0462adc80bd41a093689a54384453bfb84f2be0 Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Wed, 2 Nov 2022 14:02:39 +0100
Subject: [PATCH] Fix AronComponentConfigExample
---
.../AronComponentConfigExample.cpp | 76 +++++++++++++++----
.../AronComponentConfigExample.h | 9 ++-
.../aron/ComponentConfig.xml | 10 +++
.../aron_component_config/ComponentPlugin.h | 54 +------------
4 files changed, 79 insertions(+), 70 deletions(-)
diff --git a/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp b/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp
index 7a3a07e6e..861964b43 100644
--- a/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp
+++ b/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))
+ {
+ }
}
\ No newline at end of file
diff --git a/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.h b/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.h
index d030e645b..e466b0a6a 100644
--- a/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.h
+++ b/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;
+
};
}
\ No newline at end of file
diff --git a/source/RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.xml b/source/RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.xml
index e449a7616..56dc87b41 100644
--- a/source/RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.xml
+++ b/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'>
diff --git a/source/RobotAPI/libraries/aron_component_config/ComponentPlugin.h b/source/RobotAPI/libraries/aron_component_config/ComponentPlugin.h
index 568f62447..ae144f245 100644
--- a/source/RobotAPI/libraries/aron_component_config/ComponentPlugin.h
+++ b/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};
-
};
}
\ No newline at end of file
--
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