Merge branch 'feature/robot-health-to-debug-observer' into 'master'

RobotHealth: reporting data as debug observer datafield (FR)

See merge request ArmarX/RobotAPI!247

source/RobotAPI/components/RobotHealth/CMakeLists.txt

 armarx_component_set_name("RobotHealth")
 
 set(COMPONENT_LIBS
-    ArmarXCoreInterfaces ArmarXCore
+    ArmarXCoreInterfaces ArmarXCore ArmarXCoreComponentPlugins
     RemoteGui
     ArmarXGuiInterfaces
     RobotAPIInterfaces)

source/RobotAPI/components/RobotHealth/RobotHealth.cpp

@@ -49,6 +49,8 @@ namespace armarx
 
 
         //usingProxy(getProperty<std::string>("RemoteGuiName").getValue());
+
+        setDebugObserverBatchModeEnabled(true);
     }
 
 
@@ -157,6 +159,8 @@ namespace armarx
             catch(...)
             {}
         }*/
+
+        reportDebugObserver();
     }
 
     void RobotHealth::onDisconnectComponent()
@@ -296,4 +300,16 @@ namespace armarx
         }
         return ss.str();
     }
+
+    void RobotHealth::reportDebugObserver()
+    {
+        for(const auto& entry: entries)
+        {
+            setDebugObserverDatafield("RobotHealth_" + entry.name + "_lastDelta", entry.lastDelta);
+            setDebugObserverDatafield("RobotHealth_" + entry.name + "_maximumCycleTimeWarn", entry.maximumCycleTimeWarn);
+            setDebugObserverDatafield("RobotHealth_" + entry.name + "_maximumCycleTimeErr", entry.maximumCycleTimeErr);
+        }
+
+        sendDebugObserverBatch();
+    }
 }

source/RobotAPI/components/RobotHealth/RobotHealth.h

@@ -32,6 +32,7 @@
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/services/tasks/PeriodicTask.h>
 #include <ArmarXCore/interface/components/EmergencyStopInterface.h>
+#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
 
 #include <atomic>
 #include <mutex>
@@ -82,7 +83,8 @@ namespace armarx
      */
     class RobotHealth :
         virtual public RobotHealthComponentInterface,
-        virtual public armarx::Component
+        virtual public armarx::Component,
+        virtual public armarx::DebugObserverComponentPluginUser
     {
     public:
         /**
@@ -145,6 +147,8 @@ namespace armarx
         void monitorHealthTaskClb();
         Entry& findOrCreateEntry(const std::string& name);
 
+        void reportDebugObserver();
+
         std::mutex mutex;
         std::deque<Entry> entries;
         std::atomic_size_t validEntries {0};