From f095d0aff59539ffa54a02a3c44b9d43d38d3fac Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Wed, 10 May 2023 12:58:35 +0200
Subject: [PATCH] add heartbeat component plugin user
---
.../HeartbeatComponentPlugin.cpp | 57 +++++++++++++------
.../HeartbeatComponentPlugin.h | 16 ++++++
2 files changed, 56 insertions(+), 17 deletions(-)
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
index 41b48bdff..ceafcbf56 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
@@ -7,50 +7,58 @@
namespace armarx::plugins
{
- void HeartbeatComponentPlugin::configureHeartbeatChannel(const std::string& channel,
- const RobotHealthHeartbeatArgs& args)
+ void
+ HeartbeatComponentPlugin::configureHeartbeatChannel(const std::string& channel,
+ const RobotHealthHeartbeatArgs& args)
{
channelHeartbeatConfig.emplace(channel, args);
}
- void HeartbeatComponentPlugin::configureHeartbeatChannel(const std::string& channel, const std::string& message)
+ void
+ HeartbeatComponentPlugin::configureHeartbeatChannel(const std::string& channel,
+ const std::string& message)
{
auto args = heartbeatArgs;
args.message = message;
configureHeartbeatChannel(channel, args);
}
- void HeartbeatComponentPlugin::heartbeat()
+ void
+ HeartbeatComponentPlugin::heartbeat()
{
if (robotHealthTopic)
{
robotHealthTopic->heartbeat(componentName, heartbeatArgs);
- } else
+ }
+ else
{
ARMARX_WARNING << "No robot health topic available!";
}
}
- void HeartbeatComponentPlugin::heartbeat(const std::string& channel)
+ void
+ HeartbeatComponentPlugin::heartbeat(const std::string& channel)
{
const auto argsIt = channelHeartbeatConfig.find(channel);
- ARMARX_CHECK(argsIt != channelHeartbeatConfig.end()) << "heartbeat() called for unknown channel '" << channel
- << "'."
- << "You must register the config using configureHeartbeatChannel(channel) first!";
+ ARMARX_CHECK(argsIt != channelHeartbeatConfig.end())
+ << "heartbeat() called for unknown channel '" << channel << "'."
+ << "You must register the config using configureHeartbeatChannel(channel) first!";
const auto& args = argsIt->second;
if (robotHealthTopic)
{
robotHealthTopic->heartbeat(componentName + "_" + channel, args);
- } else
+ }
+ else
{
ARMARX_WARNING << "No robot health topic available!";
}
}
- void HeartbeatComponentPlugin::preOnInitComponent()
+ void
+ HeartbeatComponentPlugin::preOnInitComponent()
{
// if (topicName.empty())
// {
@@ -59,35 +67,50 @@ namespace armarx::plugins
// parent<Component>().offeringTopic(topicName);
}
- void HeartbeatComponentPlugin::postOnInitComponent()
+ void
+ HeartbeatComponentPlugin::postOnInitComponent()
{
}
- void HeartbeatComponentPlugin::preOnConnectComponent()
+ void
+ HeartbeatComponentPlugin::preOnConnectComponent()
{
// robotHealthTopic = parent<Component>().getTopic<RobotHealthInterfacePrx>(topicName);
componentName = parent<Component>().getName();
}
- void HeartbeatComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+ void
+ HeartbeatComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
{
if (!properties->hasDefinition(makePropertyName(topicPropertyName)))
{
- properties->topic(robotHealthTopic, topicName, topicPropertyName,
+ properties->topic(robotHealthTopic,
+ topicName,
+ topicPropertyName,
"Name of the topic the DebugObserver listens on");
}
if (not properties->hasDefinition(makePropertyName(maximumCycleTimeWarningMSPropertyName)))
{
- properties->required(heartbeatArgs.maximumCycleTimeWarningMS, maximumCycleTimeWarningMSPropertyName,
+ properties->required(heartbeatArgs.maximumCycleTimeWarningMS,
+ maximumCycleTimeWarningMSPropertyName,
"maximum cycle time before warning is emitted");
}
if (not properties->hasDefinition(makePropertyName(maximumCycleTimeErrorMSPropertyName)))
{
- properties->required(heartbeatArgs.maximumCycleTimeErrorMS, maximumCycleTimeErrorMSPropertyName,
+ properties->required(heartbeatArgs.maximumCycleTimeErrorMS,
+ maximumCycleTimeErrorMSPropertyName,
"maximum cycle time before error is emitted");
}
}
} // namespace armarx::plugins
+
+namespace armarx
+{
+ HeartbeatComponentPluginUser::HeartbeatComponentPluginUser()
+ {
+ addPlugin(heartbeat);
+ }
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h
index bbefa079c..26d4d9537 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h
@@ -22,6 +22,7 @@
#pragma once
#include <ArmarXCore/core/ComponentPlugin.h>
+#include <ArmarXCore/core/ManagedIceObject.h>
#include <RobotAPI/interface/components/RobotHealthInterface.h>
@@ -95,3 +96,18 @@ namespace armarx::plugins
std::unordered_map<std::string, RobotHealthHeartbeatArgs> channelHeartbeatConfig;
};
} // namespace armarx::plugins
+
+namespace armarx
+{
+ /**
+ * @brief Provides a ready-to-use ArViz client `arviz` as member variable.
+ */
+ class HeartbeatComponentPluginUser : virtual public ManagedIceObject
+ {
+ public:
+ HeartbeatComponentPluginUser();
+
+ protected:
+ armarx::plugins::HeartbeatComponentPlugin* heartbeat = nullptr;
+ };
+} // namespace armarx
--
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