From 206c23cd027e330a79bdf25a992b8e9db5178613 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 14 Jul 2021 22:08:11 +0200
Subject: [PATCH] RAII paradigm
---
.../libraries/client/ComponentPlugin.cpp | 4 +-
.../Navigation/libraries/client/Navigator.cpp | 80 +++++++------------
.../Navigation/libraries/client/Navigator.h | 12 ++-
3 files changed, 39 insertions(+), 57 deletions(-)
diff --git a/source/Navigation/libraries/client/ComponentPlugin.cpp b/source/Navigation/libraries/client/ComponentPlugin.cpp
index 8993da44..0f51b607 100644
--- a/source/Navigation/libraries/client/ComponentPlugin.cpp
+++ b/source/Navigation/libraries/client/ComponentPlugin.cpp
@@ -4,6 +4,7 @@
#include "ArmarXCore/core/Component.h"
#include "ArmarXCore/core/application/properties/PropertyDefinitionContainer.h"
#include "ArmarXCore/util/CPPUtility/trace.h"
+#include "Navigation/libraries/client/Navigator.h"
// ComponentPlugin
@@ -37,7 +38,8 @@ void armarx::nav::client::ComponentPlugin::preOnConnectComponent()
ARMARX_TRACE;
const std::string componentName = parent().getName();
- parent<armarx::nav::client::ComponentPluginUser>().navigator.setConfigId(componentName);
+ parent<armarx::nav::client::ComponentPluginUser>().navigator = Navigator(navigatorPrx, componentName);
+ // parent<armarx::nav::client::ComponentPluginUser>().navigator.setConfigId(componentName);
}
diff --git a/source/Navigation/libraries/client/Navigator.cpp b/source/Navigation/libraries/client/Navigator.cpp
index 32a55902..4909ffbb 100644
--- a/source/Navigation/libraries/client/Navigator.cpp
+++ b/source/Navigation/libraries/client/Navigator.cpp
@@ -1,5 +1,6 @@
-#include <Navigation/libraries/client/Navigator.h>
+#include "Navigation/libraries/client/Navigator.h"
+#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
std::vector<Eigen::Matrix4f> convert(const std::vector<armarx::nav::core::Pose>& ps)
{
@@ -14,113 +15,86 @@ std::vector<Eigen::Matrix4f> convert(const std::vector<armarx::nav::core::Pose>&
return ms;
}
-
-//armarx::nav::client::Navigator::Navigator(const armarx::nav::components::NavigatorInterfacePrx& navigator)
-// : navigator(navigator)
-//{
-// // pass
-//}
-
-
-void
-armarx::nav::client::Navigator::setConfigId(const std::string& configId)
+armarx::nav::client::Navigator::Navigator(const armarx::nav::components::NavigatorInterfacePrx& navigator, const std::string& configId)
+ : navigator(navigator), configId(configId)
{
- this->configId = configId;
+ // pass
}
+// void armarx::nav::client::Navigator::setConfigId(const std::string& configId)
+// {
+// this->configId = configId;
+// }
-void
-armarx::nav::client::Navigator::configure(const NavigationStackConfig& cfg)
+void armarx::nav::client::Navigator::configure(const NavigationStackConfig& cfg)
{
+ ARMARX_CHECK_NOT_NULL(navigator);
navigator->createConfig(cfg.toAron(), configId);
}
-
-void
-armarx::nav::client::Navigator::moveTo(const core::Pose& pose, core::NavigationFrame frame)
+void armarx::nav::client::Navigator::moveTo(const core::Pose& pose, core::NavigationFrame frame)
{
moveTo(std::vector<core::Pose> {pose}, frame);
}
-
-void
-armarx::nav::client::Navigator::moveTo(const std::vector<core::Pose>& waypoints,
- core::NavigationFrame frame)
+void armarx::nav::client::Navigator::moveTo(const std::vector<core::Pose>& waypoints,
+ core::NavigationFrame frame)
{
- navigator->moveTo(convert(waypoints),
- core::NavigationFrameNames.to_name(frame),
- configId);
+ ARMARX_CHECK_NOT_NULL(navigator);
+ navigator->moveTo(convert(waypoints), core::NavigationFrameNames.to_name(frame), configId);
}
-
-void
-armarx::nav::client::Navigator::moveTowards(const core::Direction& direction,
+void armarx::nav::client::Navigator::moveTowards(const core::Direction& direction,
core::NavigationFrame frame)
{
+ ARMARX_CHECK_NOT_NULL(navigator);
navigator->moveTowards(direction, core::NavigationFrameNames.to_name(frame), configId);
}
-
-void
-armarx::nav::client::Navigator::pauseMovement()
+void armarx::nav::client::Navigator::pauseMovement()
{
+ ARMARX_CHECK_NOT_NULL(navigator);
navigator->pauseMovement();
}
-
-void
-armarx::nav::client::Navigator::resumeMovement()
+void armarx::nav::client::Navigator::resumeMovement()
{
+ ARMARX_CHECK_NOT_NULL(navigator);
navigator->resumeMovement();
}
-
-void
-armarx::nav::client::Navigator::onGoalReached(const std::function<void(void)>& callback)
+void armarx::nav::client::Navigator::onGoalReached(const std::function<void(void)>& callback)
{
-
}
-
-void
-armarx::nav::client::Navigator::onGoalNearlyReached(const std::function<void(void)>& callback)
+void armarx::nav::client::Navigator::onGoalNearlyReached(const std::function<void(void)>& callback)
{
-
}
-
-void
-armarx::nav::client::Navigator::onWaypointReached(const std::function<void(int)>& callback)
+void armarx::nav::client::Navigator::onWaypointReached(const std::function<void(int)>& callback)
{
-
}
-
-void
-armarx::nav::client::Navigator::onWaypointNearlyReached(const std::function<void(int)>& callback)
+void armarx::nav::client::Navigator::onWaypointNearlyReached(
+ const std::function<void(int)>& callback)
{
-
}
-
auto armarx::nav::client::Navigator::waitForGoalReached() -> GoalReachedWaitResult
{
return {};
}
-
auto armarx::nav::client::Navigator::waitForGoalNearlyReached() -> GoalReachedWaitResult
{
return {};
}
-
auto armarx::nav::client::Navigator::waitForWaypointReached() -> WaypointReachedWaitResult
{
return {};
}
-
auto armarx::nav::client::Navigator::waitForWaypointNearlyReached() -> WaypointReachedWaitResult
{
return {};
diff --git a/source/Navigation/libraries/client/Navigator.h b/source/Navigation/libraries/client/Navigator.h
index 3cab9da4..ee956482 100644
--- a/source/Navigation/libraries/client/Navigator.h
+++ b/source/Navigation/libraries/client/Navigator.h
@@ -20,6 +20,7 @@
* GNU General Public License
*/
+#pragma once
// STD/STL
#include <functional>
@@ -34,15 +35,17 @@
namespace armarx::nav::client
{
+ class ComponentPluginUser;
class Navigator
{
+ friend class ComponentPluginUser;
public:
- //Navigator(const components::NavigatorInterfacePrx& navigator);
+ Navigator(const components::NavigatorInterfacePrx& navigator, const std::string& configId);
- void setConfigId(const std::string& configId);
+ // void setConfigId(const std::string& configId);
void configure(const NavigationStackConfig& cfg);
@@ -93,9 +96,12 @@ namespace armarx::nav::client
private:
- std::string configId;
+ // private c'tor violating RAII. Only meant to be used by friend class ComponentPluginUser
+ Navigator() = default;
+
components::NavigatorInterfacePrx navigator;
+ std::string configId;
};
--
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