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Commit e0462adc authored by Christoph Pohl's avatar Christoph Pohl
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Fix AronComponentConfigExample

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source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp
+ 60
− 16
View file @ e0462adc
...@@ -28,43 +28,87 @@ ...@@ -28,43 +28,87 @@
namespace armarx 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()); armarx::PropertyDefinitionsPtr defs = new AronComponentConfigExamplePropertyDefinitions(getConfigIdentifier());
auto& config = getConfigWriteBuffer(); auto& config = aron_component_config_plugin_->config_.getWriteBuffer();
config.boolMember=true; config.boolMember = true;
config.floatMember=100.0f; config.floatMember = 100.0f;
config.intMember=1000; config.intMember = 1000;
config.stringMember="initial"; config.stringMember = "initial";
config.longMember=0; config.longMember = 0;
config.subMember.subsubMember.intListMember.insert(config.subMember.subsubMember.intListMember.end(), { 1, 2, 3, 4, 5, 6 }); config.subMember
config.subMember.subsubMember.stringListMember.insert(config.subMember.subsubMember.stringListMember.end(), {"a", "b", "c", "d", "e"}); .subsubMember
commitConfigWriteBuffer(); .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; return defs;
} }
std::string AronComponentConfigExample::getDefaultName() const std::string
AronComponentConfigExample::getDefaultName() const
{ {
return "ComponentConfigTest"; return "ComponentConfigTest";
} }
AronComponentConfigExample::AronComponentConfigExample()
{
addPlugin(remote_gui_plugin_, "");
addPlugin(aron_component_config_plugin_, "");
}
AronComponentConfigExamplePropertyDefinitions::AronComponentConfigExamplePropertyDefinitions(std::string prefix) : AronComponentConfigExamplePropertyDefinitions::AronComponentConfigExamplePropertyDefinitions(std::string prefix) :
armarx::ComponentPropertyDefinitions(std::move(prefix)) {} armarx::ComponentPropertyDefinitions(std::move(prefix))
{
}
} }
\ No newline at end of file
source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.h
+ 8
− 1
View file @ e0462adc
...@@ -37,7 +37,6 @@ namespace armarx ...@@ -37,7 +37,6 @@ namespace armarx
}; };
class AronComponentConfigExample : class AronComponentConfigExample :
virtual public armarx::AronComponentConfigPluginUser<armarx::component_config::aron::TestConfig>,
virtual public armarx::Component virtual public armarx::Component
{ {
public: public:
...@@ -58,5 +57,13 @@ namespace armarx ...@@ -58,5 +57,13 @@ namespace armarx
/// @see PropertyUser::createPropertyDefinitions() /// @see PropertyUser::createPropertyDefinitions()
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override; 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
source/RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.xml
+ 10
− 0
View file @ e0462adc
...@@ -39,6 +39,16 @@ ...@@ -39,6 +39,16 @@
<int/> <int/>
</List> </List>
</ObjectChild> </ObjectChild>
<ObjectChild key='stringDictMember'>
<Dict>
<string/>
</Dict>
</ObjectChild>
<ObjectChild key='intDictMember'>
<Dict>
<int/>
</Dict>
</ObjectChild>
</Object> </Object>
<Object name='armarx::component_config::aron::SubConfig'> <Object name='armarx::component_config::aron::SubConfig'>
......
source/RobotAPI/libraries/aron_component_config/ComponentPlugin.h
+ 1
− 53
View file @ e0462adc
...@@ -86,10 +86,9 @@ namespace armarx::plugins ...@@ -86,10 +86,9 @@ namespace armarx::plugins
return RemoteGui::makeConfigGui(name, config_.getUpToDateReadBuffer()); 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; ARMARX_TRACE;
prx.receiveUpdates();
armarx::aron::component_config::GetValueFromMapVisitor vis(&prx); armarx::aron::component_config::GetValueFromMapVisitor vis(&prx);
auto& cfg = config_.getWriteBuffer(); auto& cfg = config_.getWriteBuffer();
auto data = std::static_pointer_cast<armarx::aron::data::Variant>(cfg.toAron()); auto data = std::static_pointer_cast<armarx::aron::data::Variant>(cfg.toAron());
...@@ -107,56 +106,5 @@ namespace armarx::plugins ...@@ -107,56 +106,5 @@ namespace armarx::plugins
armarx::WriteBufferedTripleBuffer<AronStructT> config_; 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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