From 495f7ad0a21f7e0d2b7f0870c97fb7fa8f9b87c7 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 9 Jul 2021 13:02:58 +0200
Subject: [PATCH] x traces
---
.../components/Navigator/CMakeLists.txt | 2 +-
.../components/Navigator/Navigator.cpp | 19 +++++++++++++++++--
2 files changed, 18 insertions(+), 3 deletions(-)
diff --git a/source/Navigation/components/Navigator/CMakeLists.txt b/source/Navigation/components/Navigator/CMakeLists.txt
index b2281158..ca9366db 100644
--- a/source/Navigation/components/Navigator/CMakeLists.txt
+++ b/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
diff --git a/source/Navigation/components/Navigator/Navigator.cpp b/source/Navigation/components/Navigator/Navigator.cpp
index 3f16c961..98d80fc4 100644
--- a/source/Navigation/components/Navigator/Navigator.cpp
+++ b/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);
--
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