RobotControl statecharts now takes a property for loading a state on startup

source/RobotAPI/statecharts/operations/RobotControl.cpp

@@ -27,6 +27,7 @@
 
 #include <Core/observers/variant/ChannelRef.h>
 #include <Core/statechart/DynamicRemoteState.h>
+#include <Core/core/exceptions/local/ExpressionException.h>
 
 namespace armarx
 {
@@ -64,6 +65,11 @@ namespace armarx
         startRobotStatechart();
     }
 
+    PropertyDefinitionsPtr RobotControl::createPropertyDefinitions()
+    {
+        return PropertyDefinitionsPtr(new RobotControlContextProperties(getConfigIdentifier()));
+    }
+
     void RobotControl::createStaticInstance()
     {
         getObjectScheduler()->waitForObjectState(eManagedIceObjectStarted, 5000);
@@ -71,9 +77,31 @@ namespace armarx
         std::map<int, StateBasePtr> stateList = getChildStatesByName(stateId,"Functional");
         ARMARX_INFO << "Functional State Id:" << stateList.begin()->first << flush;
         assert(stateList.size() > 0);
+        int robotFunctionalStateId = stateList.begin()->first;
         robotFunctionalState = stateList.begin()->second;
         callRemoteState(stateId, StringVariantContainerBaseMap());
 
+        const std::string proxyName = getProperty<std::string>("proxyName").getValue();
+        const std::string stateName = getProperty<std::string>("stateName").getValue();
+        ARMARX_IMPORTANT << VAROUT(proxyName) << VAROUT(stateName);
+        if(!proxyName.empty() && !stateName.empty())
+        {
+            auto statebase = robotFunctionalState->findSubstateByName("DynamicRemoteState");
+            ARMARX_CHECK_EXPRESSION(statebase);
+            DynamicRemoteStatePtr state = DynamicRemoteStatePtr::dynamicCast(statebase);
+
+            if(!state)
+            {
+                ARMARX_ERROR << "dynamic state pointer null";
+                return;
+            }
+            state->getObjectScheduler()->waitForObjectState(eManagedIceObjectStarted, 5000);
+            EventPtr evt = createEvent<EvLoadScenario>();
+            evt->eventReceiverName = "toAll";
+            evt->properties["proxyName"] = new SingleVariant(proxyName);
+            evt->properties["stateName"] = new SingleVariant(stateName);
+            issueEvent(robotFunctionalStateId, evt);
+        }
     }
 
 

source/RobotAPI/statecharts/operations/RobotControl.h

@@ -30,6 +30,22 @@
 
 namespace armarx
 {
+    // ****************************************************************
+    // Component and context
+    // ****************************************************************
+
+    struct RobotControlContextProperties : StatechartContextPropertyDefinitions
+    {
+        RobotControlContextProperties(std::string prefix):
+            StatechartContextPropertyDefinitions(prefix)
+        {
+            defineOptionalProperty<std::string>("proxyName", "", "name of the proxy to load");
+            defineOptionalProperty<std::string>("stateName", "", "name of the state to load");
+        }
+    };
+
+
+
     /**
      * \class RobotControl
      * \brief RobotControl is used for dynamically loading and starting robot programs
@@ -62,7 +78,7 @@ namespace armarx
 
         void hardReset(const Ice::Current & = ::Ice::Current());
 
-
+        virtual PropertyDefinitionsPtr createPropertyDefinitions();
 
     private:
         void createStaticInstance();