Feature/object provider skills

• Bugfix in ObjectMemory Instance Segment adapter: setting timeout for object localization request (it was 0 so the detection wasn't activated)
• ObjectProviderPlugin: Using proxy instead of topic. This ensures that the provider will register themselves properly in the ObjectMemory to needed by the 'requestObject' functionality

source/RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.cpp

@@ -2,43 +2,48 @@
 
 #include <ArmarXCore/core/Component.h>
 
-
 namespace armarx::plugins
 {
 
-    void ObjectPoseProviderPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+    void
+    ObjectPoseProviderPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
     {
         if (!properties->hasDefinition(makePropertyName(PROPERTY_NAME)))
         {
             properties->defineOptionalProperty<std::string>(
-                makePropertyName(PROPERTY_NAME),
-                "ObjectPoseTopic",
-                "Name of the object pose topic.");
+                makePropertyName(PROPERTY_NAME), "ObjectMemory", "Name of the object memory.");
         }
     }
 
-    void ObjectPoseProviderPlugin::preOnInitComponent()
+    void
+    ObjectPoseProviderPlugin::preOnInitComponent()
     {
-        parent<Component>().offeringTopicFromProperty(makePropertyName(PROPERTY_NAME));
+        parent<Component>().usingProxyFromProperty(makePropertyName(PROPERTY_NAME));
     }
 
-    void ObjectPoseProviderPlugin::preOnConnectComponent()
+    void
+    ObjectPoseProviderPlugin::preOnConnectComponent()
     {
-        parent<ObjectPoseProviderPluginUser>().objectPoseTopic = createObjectPoseTopic();
+        parent<ObjectPoseProviderPluginUser>().objectPoseTopic =
+            parent<Component>().getProxyFromProperty<objpose::ObjectPoseStorageInterfacePrx>(
+                makePropertyName(PROPERTY_NAME));
     }
 
-    void ObjectPoseProviderPlugin::postOnConnectComponent()
+    void
+    ObjectPoseProviderPlugin::postOnConnectComponent()
     {
-        ObjectPoseProviderPluginUser& parent = this->parent<ObjectPoseProviderPluginUser>();
-        objpose::ObjectPoseTopicPrx& topic = parent.objectPoseTopic;
-        if (topic)
+        auto& parent = this->parent<ObjectPoseProviderPluginUser>();
+        if (parent.objectPoseTopic)
         {
             objpose::ProviderInfo info = parent.getProviderInfo();
             if (!info.proxy)
             {
-                info.proxy = ::armarx::objpose::ObjectPoseProviderPrx::checkedCast(parent.getProxy());
+                info.proxy =
+                    ::armarx::objpose::ObjectPoseProviderPrx::checkedCast(parent.getProxy());
             }
-            topic->reportProviderAvailable(parent.getName(), info);
+
+            ARMARX_INFO << "Reporting provider `" << parent.getName() << "` availability.";
+            parent.objectPoseTopic->reportProviderAvailable(parent.getName(), info);
         }
         else
         {
@@ -46,13 +51,7 @@ namespace armarx::plugins
         }
     }
 
-    objpose::ObjectPoseTopicPrx ObjectPoseProviderPlugin::createObjectPoseTopic()
-    {
-        return parent<Component>().getTopicFromProperty<objpose::ObjectPoseTopicPrx>(makePropertyName(PROPERTY_NAME));
-    }
-
-}
-
+} // namespace armarx::plugins
 
 namespace armarx
 {
@@ -62,7 +61,10 @@ namespace armarx
         addPlugin(plugin);
     }
 
-    objpose::provider::RequestObjectsOutput ObjectPoseProviderPluginUser::requestObjects(const objpose::provider::RequestObjectsInput& input, const Ice::Current&)
+    objpose::provider::RequestObjectsOutput
+    ObjectPoseProviderPluginUser::requestObjects(
+        const objpose::provider::RequestObjectsInput& input,
+        const Ice::Current&)
     {
         // ARMARX_INFO << "Requested " << input.objectIDs.size() << " objects for " << input.relativeTimeoutMS << " ms.";
         objpose::provider::RequestObjectsOutput output;
@@ -73,9 +75,5 @@ namespace armarx
         return output;
     }
 
-    objpose::ObjectPoseTopicPrx ObjectPoseProviderPluginUser::createObjectPoseTopic()
-    {
-        return plugin->createObjectPoseTopic();
-    }
 
-}
+} // namespace armarx