From 078e698c6e444a072e982c9d8a5c87c132428fe6 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 8 Jun 2022 14:48:28 +0200
Subject: [PATCH] cleaning up example
---
.../components/example_client/Component.cpp | 32 +++++++------------
.../components/example_client/Component.h | 4 ++-
2 files changed, 14 insertions(+), 22 deletions(-)
diff --git a/examples/components/example_client/Component.cpp b/examples/components/example_client/Component.cpp
index 56404a58..84f1485b 100644
--- a/examples/components/example_client/Component.cpp
+++ b/examples/components/example_client/Component.cpp
@@ -46,9 +46,9 @@
namespace armarx::navigation::components::example_client
{
- Component::Component() : virtualRobotReader(memoryNameSystem())
+ Component::Component()
{
- // pass
+ addPlugin(virtualRobotReaderPlugin);
}
@@ -68,8 +68,6 @@ namespace armarx::navigation::components::example_client
void
Component::onConnectComponent()
{
- virtualRobotReader.connect();
-
task = new armarx::RunningTask<Component>(this, &Component::exampleNavigationPointToPoint);
task->start();
}
@@ -100,8 +98,6 @@ namespace armarx::navigation::components::example_client
void
Component::exampleNavigation()
{
- using namespace std::chrono_literals;
-
// Import relevant namespaces.
using namespace armarx::navigation;
@@ -120,7 +116,7 @@ namespace armarx::navigation::components::example_client
// Example of registering a method as callback.
getNavigator().onGoalReached([this] { goalReached(); });
- std::this_thread::sleep_for(1s);
+ Clock::WaitFor(Duration::Seconds(1));
ARMARX_INFO << "Moving to goal pose";
// Start moving to goal position using above config.
@@ -129,7 +125,7 @@ namespace armarx::navigation::components::example_client
getNavigator().moveTo(goal, core::NavigationFrame::Absolute);
- std::this_thread::sleep_for(15s);
+ Clock::WaitFor(Duration::Seconds(15));
// Wait until goal is reached
armarx::navigation::client::StopEvent se = getNavigator().waitForStop();
@@ -157,7 +153,7 @@ namespace armarx::navigation::components::example_client
goal.translation() << -1500, 1000, 0;
getNavigator().moveTo(goal, core::NavigationFrame::Absolute);
- std::this_thread::sleep_for(15s);
+ Clock::WaitFor(Duration::Seconds(15));
// Wait until goal is reached
se = getNavigator().waitForStop();
@@ -184,7 +180,7 @@ namespace armarx::navigation::components::example_client
ARMARX_ERROR << "Could not reach goal 3!";
}
- std::this_thread::sleep_for(15s);
+ Clock::WaitFor(Duration::Seconds(15));
// TODO example with waypoints
@@ -192,7 +188,7 @@ namespace armarx::navigation::components::example_client
// Start moving towards a direction
getNavigator().moveTowards(core::Direction(100, 100, 0), core::NavigationFrame::Relative);
- std::this_thread::sleep_for(3s);
+ Clock::WaitFor(Duration::Seconds(3));
ARMARX_INFO << "Pausing movement.";
getNavigator().pause();
@@ -203,8 +199,6 @@ namespace armarx::navigation::components::example_client
{
ARMARX_INFO << "Demonstrating complex navigation";
- using namespace std::chrono_literals;
-
// Import relevant namespaces.
using namespace armarx::navigation;
@@ -223,7 +217,7 @@ namespace armarx::navigation::components::example_client
// Example of registering a method as callback.
getNavigator().onGoalReached([this] { goalReached(); });
- std::this_thread::sleep_for(1s);
+ Clock::WaitFor(Duration::Seconds(1));
ARMARX_INFO << "Moving to goal pose";
// Start moving to goal position using above config.
@@ -246,8 +240,6 @@ namespace armarx::navigation::components::example_client
ARMARX_INFO << "Starting execution";
getNavigator().moveTo(pathBuilder, core::NavigationFrame::Absolute);
- std::this_thread::sleep_for(25s); // TODO(fabian.reister): remove in the future
-
// Wait until goal is reached
armarx::navigation::client::StopEvent se = getNavigator().waitForStop();
if (se)
@@ -295,12 +287,13 @@ namespace armarx::navigation::components::example_client
.globalPlanner(global_planning::Point2PointParams())
.trajectoryController(traj_ctrl::TrajectoryFollowingControllerParams()));
-
- std::this_thread::sleep_for(1s);
+ Clock::WaitFor(Duration::Seconds(1));
ARMARX_INFO << "Moving to goal pose";
// Start moving to goal position using above config.
+ auto& virtualRobotReader = virtualRobotReaderPlugin->get();
+
auto robot =
virtualRobotReader.getSynchronizedRobot(properties.robotName, armarx::Clock::Now());
ARMARX_CHECK_NOT_NULL(robot);
@@ -376,9 +369,6 @@ namespace armarx::navigation::components::example_client
"relativeMovement",
"The distance between two target poses [mm]");
- virtualRobotReader.registerPropertyDefinitions(def);
-
-
return def;
}
diff --git a/examples/components/example_client/Component.h b/examples/components/example_client/Component.h
index aaa62999..0fb9bd4c 100644
--- a/examples/components/example_client/Component.h
+++ b/examples/components/example_client/Component.h
@@ -27,6 +27,7 @@
#include <ArmarXCore/util/tasks.h>
#include <armarx/navigation/client.h>
+#include "RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h"
#include "RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h"
#include <RobotAPI/libraries/armem/client/plugins.h>
@@ -100,7 +101,8 @@ namespace armarx::navigation::components::example_client
armarx::RunningTask<Component>::pointer_type task;
- armem::robot_state::VirtualRobotReader virtualRobotReader;
+ armem::client::plugins::ReaderWriterPlugin<armem::robot_state::VirtualRobotReader>* virtualRobotReaderPlugin = nullptr;
+
};
--
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