From e7e4c204872f1716b2b2026873276fa1c7e270b9 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 21 Apr 2022 09:53:55 +0200
Subject: [PATCH] Optimize includes for some files
---
.../RobotUnit/ControlTargets/ControlTargetBase.h | 3 +--
.../RobotAPI/components/units/RobotUnit/RobotUnit.h | 5 ++++-
.../RobotUnitModules/RobotUnitModulePublisher.cpp | 11 ++---------
.../RobotUnitModules/RobotUnitModulePublisher.h | 5 -----
.../units/RobotUnit/SensorValues/SensorValueBase.h | 7 +++----
.../RobotUnit/util/introspection/DataFieldsInfo.h | 1 -
6 files changed, 10 insertions(+), 22 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h
index d99710444..cf19d2b9f 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTargetBase.h
@@ -26,8 +26,7 @@
#include <RobotAPI/components/units/RobotUnit//util/HeterogenousContinuousContainerMacros.h>
#include <RobotAPI/components/units/RobotUnit/ControlModes.h>
-//#include <ArmarXCore/interface/observers/VariantBase.h>
-
+#include <IceUtil/Time.h>
#include <Ice/Handle.h>
#include <memory>
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnit.h b/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
index c2b35013a..22ffd80ae 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnit.h
@@ -23,7 +23,10 @@
#pragma once
#include "RobotUnitModules/RobotUnitModules.h"
-//#include "NJointControllers/NJointControllerBase.h"
+
+// This include is not necessary but a lot of other files rely on it being included here
+// Can be removed if other files include what they use
+#include "NJointControllers/NJointControllerBase.h"
/**
* @defgroup Library-RobotUnit RobotUnit
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
index 4e38d6ab3..c07f2d42c 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
@@ -129,13 +129,6 @@ namespace armarx::RobotUnitModule
namespace armarx::RobotUnitModule
{
- const std::map<std::string, NJointControllerBasePtr>& Publisher::getNJointControllers()
- {
- ARMARX_TRACE;
- throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- return ControllerManagementAttorneyForPublisher::GetNJointControllers(this);
- }
-
TimedVariantPtr Publisher::publishNJointClassNames()
{
ARMARX_TRACE;
@@ -172,7 +165,7 @@ namespace armarx::RobotUnitModule
auto debugDrawerBatchPrx = debugDrawerPrx->ice_batchOneway();
auto debugObserverBatchPrx = debugObserverPrx->ice_batchOneway();
NJointControllerStatusSeq allStatus;
- for (const auto& pair : getNJointControllers())
+ for (const auto& pair : ControllerManagementAttorneyForPublisher::GetNJointControllers(this))
{
const auto begInner = TimeUtil::GetTime(true);
const NJointControllerBasePtr& nJointCtrl = pair.second;
@@ -495,7 +488,7 @@ namespace armarx::RobotUnitModule
std::this_thread::sleep_for(std::chrono::milliseconds {100});
ARMARX_DEBUG << "shutting down publisher task done";
}
- for (const auto& pair : getNJointControllers())
+ for (const auto& pair : ControllerManagementAttorneyForPublisher::GetNJointControllers(this))
{
ARMARX_DEBUG << "forcing deactivation of publishing for " << pair.first;
NJointControllerAttorneyForPublisher::DeactivatePublishing(pair.second, debugDrawerPrx, debugObserverPrx);
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
index 5844b7ba9..9b68b4c7a 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
@@ -164,11 +164,6 @@ namespace armarx::RobotUnitModule
// //////////////////////////////////// implementation //////////////////////////////////// //
// //////////////////////////////////////////////////////////////////////////////////////// //
private:
- /**
- * @brief Returns a map containing all current NJointControllers.
- * @return A map containing all current NJointControllers.
- */
- const std::map<std::string, NJointControllerBasePtr>& getNJointControllers();
/**
* @brief Returns the used RobotUnitObserver
* @return The used RobotUnitObserver
diff --git a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h
index 7afa43be2..021ab483d 100644
--- a/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/SensorValues/SensorValueBase.h
@@ -26,11 +26,10 @@
#include <string>
#include <map>
-#include <ArmarXCore/observers/variant/TimedVariant.h>
+#include <ArmarXCore/util/CPPUtility/TemplateMetaProgramming.h>
-#include "../util/HeterogenousContinuousContainerMacros.h"
-
-#include "../util.h"
+#include <RobotAPI/components/units/RobotUnit/util/introspection/ClassMemberInfo.h>
+#include <RobotAPI/components/units/RobotUnit/util/HeterogenousContinuousContainerMacros.h>
namespace armarx
{
diff --git a/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h b/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
index 29fb78830..34f53f637 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/introspection/DataFieldsInfo.h
@@ -25,7 +25,6 @@
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
-#include <ArmarXCore/core/util/StringHelpers.h>
#include <ArmarXCore/observers/variant/TimedVariant.h>
#include <ArmarXCore/interface/observers/VariantBase.h>
--
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