x traces

source/Navigation/components/Navigator/CMakeLists.txt

@@ -20,7 +20,7 @@ armarx_add_component(
         ArmarXCore
         ## ArmarXCoreComponentPlugins  # For DebugObserver plugin.
         # ArmarXGui
-        ## ArmarXGuiComponentPlugins  # For RemoteGui plugin.
+        ArmarXGuiComponentPlugins  # For RemoteGui plugin.
         # RobotAPI
         RobotAPICore
         RobotAPIInterfaces

source/Navigation/components/Navigator/Navigator.cpp

@@ -31,6 +31,7 @@
 #include <Eigen/src/Geometry/Transform.h>
 
 #include "ArmarXCore/core/services/tasks/TaskUtil.h"
+#include "ArmarXCore/util/CPPUtility/trace.h"
 
 #include "RobotAPI/libraries/core/remoterobot/RemoteRobot.h"
 
@@ -53,6 +54,10 @@ void armarx::nav::components::Navigator::onInitComponent()
 
 void armarx::nav::components::Navigator::onConnectComponent()
 {
+    {
+        createRemoteGuiTab();
+        RemoteGui_startRunningTask();
+    }
 }
 
 void armarx::nav::components::Navigator::onDisconnectComponent()
@@ -134,6 +139,8 @@ void armarx::nav::components::Navigator::resumeMovement(const Ice::Current&)
 
 armarx::PropertyDefinitionsPtr armarx::nav::components::Navigator::createPropertyDefinitions()
 {
+    ARMARX_TRACE;
+
     armarx::PropertyDefinitionsPtr def = new ComponentPropertyDefinitions(getConfigIdentifier());
 
     // Publish to a topic (passing the TopicListenerPrx).
@@ -156,6 +163,8 @@ armarx::PropertyDefinitionsPtr armarx::nav::components::Navigator::createPropert
 
 armarx::nav::core::StaticScene armarx::nav::components::Navigator::staticScene()
 {
+    ARMARX_TRACE;
+
     core::StaticScene scene;
 
     objpose::ObjectPoseSeq objectPoses = ObjectPoseClientPluginUser::getObjectPoses();
@@ -167,6 +176,8 @@ armarx::nav::core::StaticScene armarx::nav::components::Navigator::staticScene()
 
 VirtualRobot::RobotPtr armarx::nav::components::Navigator::getRobot()
 {
+    ARMARX_TRACE;
+
     auto robot = RemoteRobot::createLocalCloneFromFile(
                      getRobotStateComponent(), VirtualRobot::RobotIO::RobotDescription::eFull);
     // auto robot = RemoteRobot::createLocalClone(getRobotStateComponent());
@@ -180,9 +191,9 @@ VirtualRobot::RobotPtr armarx::nav::components::Navigator::getRobot()
     return robot;
 }
 
-
 void armarx::nav::components::Navigator::createRemoteGuiTab()
 {
+    ARMARX_TRACE;
     using namespace armarx::RemoteGui::Client;
 
     // Setup the widgets.
@@ -209,12 +220,16 @@ void armarx::nav::components::Navigator::createRemoteGuiTab()
     }
 
     VBoxLayout root = {grid, VSpacer()};
+
+    ARMARX_TRACE;
+
     RemoteGui_createTab(getName(), root, &tab);
 }
 
-
 void armarx::nav::components::Navigator::RemoteGui_update()
 {
+    ARMARX_TRACE;
+
     // if (tab.boxLayerName.hasValueChanged() || tab.numBoxes.hasValueChanged())
     // {
     //     std::scoped_lock lock(propertiesMutex);