From f75279f62a3c8833170755cf8a803fdedf438b64 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Thu, 21 Apr 2022 10:46:35 +0200
Subject: [PATCH] Split RobotUnit.ice and NJointController.ice again
---
.../NJointControllers/NJointController.cpp | 8 +-
.../NJointControllers/NJointControllerBase.h | 2 +-
.../units/RobotUnit/NJointController.ice | 77 ++++++++++++++++++-
.../NJointTaskSpaceDMPController.ice | 2 +
.../units/RobotUnit/RobotUnitInterface.ice | 70 +----------------
5 files changed, 83 insertions(+), 76 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp
index 5d34536c6..a127273c7 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.cpp
@@ -130,10 +130,10 @@ namespace armarx
return ds;
}
- RobotUnitInterfacePrx NJointControllerBase::getRobotUnit(const Ice::Current&) const
- {
- return RobotUnitInterfacePrx::uncheckedCast(robotUnit.getProxy(-1));
- }
+// RobotUnitInterfacePrx NJointControllerBase::getRobotUnit(const Ice::Current&) const
+// {
+// return RobotUnitInterfacePrx::uncheckedCast(robotUnit.getProxy(-1));
+// }
void NJointControllerBase::activateController(const Ice::Current&)
{
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
index cad191935..81afaef0d 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h
@@ -761,7 +761,7 @@ namespace armarx
NJointControllerDescription getControllerDescription(const Ice::Current& = Ice::emptyCurrent) const final override;
NJointControllerStatus getControllerStatus(const Ice::Current& = Ice::emptyCurrent) const final override;
NJointControllerDescriptionWithStatus getControllerDescriptionWithStatus(const Ice::Current& = Ice::emptyCurrent) const final override;
- RobotUnitInterfacePrx getRobotUnit(const Ice::Current& = Ice::emptyCurrent) const final override;
+ //RobotUnitInterfacePrx getRobotUnit(const Ice::Current& = Ice::emptyCurrent) const final override;
void activateController(const Ice::Current& = Ice::emptyCurrent) final override;
void deactivateController(const Ice::Current& = Ice::emptyCurrent) final override;
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
index 7e07c41de..f10564670 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointController.ice
@@ -22,7 +22,80 @@
#pragma once
+#include <ArmarXGui/interface/WidgetDescription.ice>
-#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+
+module armarx
+{
+ interface NJointControllerInterface;
+
+
+ module RobotUnitControllerNames
+ {
+ const string NJointTrajectoryController = "NJointTrajectoryController";
+ const string NJointGlobalTCPController = "NJointGlobalTCPController"; /*@@@TODO: move NJointGlobalTCPController to RobotAPI */
+ const string NJointTCPController = "NJointTCPController";
+ const string NJointCartesianVelocityController = "NJointCartesianVelocityController";
+ };
+
+
+ class NJointControllerConfig {};
+
+ struct NJointControllerDescription
+ {
+ string instanceName;
+ string className;
+ NJointControllerInterface* controller;
+ StringStringDictionary controlModeAssignment;
+ bool deletable;
+ bool internal;
+ };
+ sequence<NJointControllerDescription> NJointControllerDescriptionSeq;
+
+ struct NJointControllerStatus
+ {
+ string instanceName;
+ bool active = false;
+ bool requested = false;
+ bool error = false;
+ long timestampUSec = 0;
+ };
+ sequence<NJointControllerStatus> NJointControllerStatusSeq;
+
+ struct NJointControllerDescriptionWithStatus
+ {
+ NJointControllerStatus status;
+ NJointControllerDescription description;
+ };
+ sequence<NJointControllerDescriptionWithStatus> NJointControllerDescriptionWithStatusSeq;
+
+ interface NJointControllerInterface
+ {
+ ["cpp:const"] idempotent string getClassName();
+ ["cpp:const"] idempotent string getInstanceName();
+ ["cpp:const"] idempotent StringStringDictionary getControlDeviceUsedControlModeMap();
+ ["cpp:const"] idempotent bool isControllerActive();
+ ["cpp:const"] idempotent bool isControllerRequested();
+ ["cpp:const"] idempotent bool isDeletable();
+ ["cpp:const"] idempotent bool hasControllerError();
+ ["cpp:const"] idempotent NJointControllerStatus getControllerStatus();
+ ["cpp:const"] idempotent NJointControllerDescription getControllerDescription();
+ ["cpp:const"] idempotent NJointControllerDescriptionWithStatus getControllerDescriptionWithStatus();
+ // This method is not used by anybody and just produces cyclic dependencies
+ // If you were able to create/get an NJointController, you know the RobotUnit already.
+ //["cpp:const"] idempotent RobotUnitInterface* getRobotUnit();
+
+ void activateController();
+ void deactivateController();
+ void deleteController() throws LogicError;
+ void deactivateAndDeleteController() throws LogicError;
+
+ ["cpp:const"] idempotent WidgetDescription::StringWidgetDictionary getFunctionDescriptions();
+ void callDescribedFunction(string fuinctionName, StringVariantBaseMap values) throws InvalidArgumentException;
+ };
+
+ dictionary<string, NJointControllerInterface*> StringNJointControllerPrxDictionary;
+};
-//see RobotUnitInterface.ice (zeroc broke forward declarations)
diff --git a/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice b/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
index 84614f0d5..178edf202 100644
--- a/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice
@@ -25,6 +25,8 @@
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <RobotAPI/interface/core/Trajectory.ice>
+#include <ArmarXCore/interface/serialization/Eigen.ice>
+
module armarx
{
module NJointTaskSpaceDMPControllerMode
diff --git a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
index e6c33056b..f59b43019 100644
--- a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
@@ -41,82 +41,14 @@
#include <RobotAPI/interface/visualization/DebugDrawerInterface.ice>
#include <RobotAPI/interface/components/RobotHealthInterface.ice>
+#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXGui/interface/WidgetDescription.ice>
//NJointController
-module armarx
-{
- interface NJointControllerInterface;
- interface RobotUnitInterface;
-
-
- module RobotUnitControllerNames
- {
- const string NJointTrajectoryController = "NJointTrajectoryController";
- const string NJointGlobalTCPController = "NJointGlobalTCPController"; /*@@@TODO: move NJointGlobalTCPController to RobotAPI */
- const string NJointTCPController = "NJointTCPController";
- const string NJointCartesianVelocityController = "NJointCartesianVelocityController";
- };
-
-
- class NJointControllerConfig {};
-
- struct NJointControllerDescription
- {
- string instanceName;
- string className;
- NJointControllerInterface* controller;
- StringStringDictionary controlModeAssignment;
- bool deletable;
- bool internal;
- };
- sequence<NJointControllerDescription> NJointControllerDescriptionSeq;
-
- struct NJointControllerStatus
- {
- string instanceName;
- bool active = false;
- bool requested = false;
- bool error = false;
- long timestampUSec = 0;
- };
- sequence<NJointControllerStatus> NJointControllerStatusSeq;
-
- struct NJointControllerDescriptionWithStatus
- {
- NJointControllerStatus status;
- NJointControllerDescription description;
- };
- sequence<NJointControllerDescriptionWithStatus> NJointControllerDescriptionWithStatusSeq;
-
- interface NJointControllerInterface
- {
- ["cpp:const"] idempotent string getClassName();
- ["cpp:const"] idempotent string getInstanceName();
- ["cpp:const"] idempotent StringStringDictionary getControlDeviceUsedControlModeMap();
- ["cpp:const"] idempotent bool isControllerActive();
- ["cpp:const"] idempotent bool isControllerRequested();
- ["cpp:const"] idempotent bool isDeletable();
- ["cpp:const"] idempotent bool hasControllerError();
- ["cpp:const"] idempotent NJointControllerStatus getControllerStatus();
- ["cpp:const"] idempotent NJointControllerDescription getControllerDescription();
- ["cpp:const"] idempotent NJointControllerDescriptionWithStatus getControllerDescriptionWithStatus();
- ["cpp:const"] idempotent RobotUnitInterface* getRobotUnit();
-
- void activateController();
- void deactivateController();
- void deleteController() throws LogicError;
- void deactivateAndDeleteController() throws LogicError;
-
- ["cpp:const"] idempotent WidgetDescription::StringWidgetDictionary getFunctionDescriptions();
- void callDescribedFunction(string fuinctionName, StringVariantBaseMap values) throws InvalidArgumentException;
- };
- dictionary<string, NJointControllerInterface*> StringNJointControllerPrxDictionary;
-};
//RobotUnit Utility types - ControlDevice
module armarx
--
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