From 4f4212e5f9b7d08976ef87620843f53d58719f54 Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Tue, 26 Oct 2021 11:09:46 +0200
Subject: [PATCH] Refactors ComponentPlugin to be self-sufficient
---
.../navigation/client/ComponentPlugin.cpp | 26 ++++++------
.../navigation/client/ComponentPlugin.h | 40 +++++++++----------
.../components/example_client/Component.cpp | 30 +++++++-------
3 files changed, 46 insertions(+), 50 deletions(-)
diff --git a/source/armarx/navigation/client/ComponentPlugin.cpp b/source/armarx/navigation/client/ComponentPlugin.cpp
index 3578b695..07cb43c0 100644
--- a/source/armarx/navigation/client/ComponentPlugin.cpp
+++ b/source/armarx/navigation/client/ComponentPlugin.cpp
@@ -36,16 +36,23 @@ armarx::navigation::client::ComponentPlugin::preOnConnectComponent()
ARMARX_TRACE;
const std::string componentName = parent().getName();
- IceNavigator& srv = parent<armarx::navigation::client::ComponentPluginUser>().iceNavigator;
ARMARX_CHECK_NOT_NULL(navigatorPrx) << "Navigator proxy is null!";
- srv.setNavigatorComponent(navigatorPrx);
+ iceNavigator.setNavigatorComponent(navigatorPrx);
+}
+
+void
+armarx::navigation::client::ComponentPlugin::configureNavigator(
+ const client::NavigationStackConfig& stackConfig,
+ const std::string& configId)
+{
+ ARMARX_TRACE;
+ iceNavigator.createConfig(stackConfig, configId);
}
// ComponentPluginUser
-armarx::navigation::client::ComponentPluginUser::ComponentPluginUser() :
- navigator{navigatorServices}
+armarx::navigation::client::ComponentPluginUser::ComponentPluginUser()
{
ARMARX_TRACE;
addPlugin(plugin);
@@ -55,15 +62,8 @@ void
armarx::navigation::client::ComponentPluginUser::configureNavigator(
const client::NavigationStackConfig& stackConfig)
{
- configureNavigator(stackConfig, getName());
-}
-
-void
-armarx::navigation::client::ComponentPluginUser::configureNavigator(
- const client::NavigationStackConfig& stackConfig,
- const std::string& configId)
-{
- iceNavigator.createConfig(stackConfig, configId);
+ ARMARX_TRACE;
+ plugin->configureNavigator(stackConfig, getName());
}
armarx::navigation::client::ComponentPluginUser::~ComponentPluginUser() = default;
diff --git a/source/armarx/navigation/client/ComponentPlugin.h b/source/armarx/navigation/client/ComponentPlugin.h
index f64ce55b..ce6c5ad8 100644
--- a/source/armarx/navigation/client/ComponentPlugin.h
+++ b/source/armarx/navigation/client/ComponentPlugin.h
@@ -14,11 +14,13 @@
namespace armarx::navigation::client
{
- class ComponentPlugin : virtual public armarx::ComponentPlugin
+ class ComponentPlugin : public armarx::ComponentPlugin
{
public:
- using armarx::ComponentPlugin::ComponentPlugin;
+ ComponentPlugin(ManagedIceObject& parent, const std::string& prefix) :
+ armarx::ComponentPlugin(parent, prefix), navigator(navigatorServices){};
+// using armarx::ComponentPlugin::ComponentPlugin;
~ComponentPlugin() override;
@@ -28,10 +30,21 @@ namespace armarx::navigation::client
void preOnConnectComponent() override;
+ void configureNavigator(const client::NavigationStackConfig& stackConfig,
+ const std::string& configId);
+
private:
static constexpr const char* PROPERTY_NAME = "nav.NavigatorName";
client::NavigatorInterfacePrx navigatorPrx;
+ IceNavigator iceNavigator;
+ // MemorySubscriber memorySubscriber;
+ SimpleEventHandler memorySubscriber; // FIXME
+ Navigator::InjectedServices navigatorServices{.navigator = &iceNavigator,
+ .subscriber = &memorySubscriber};
+
+ public:
+ Navigator navigator;
};
@@ -42,31 +55,14 @@ namespace armarx::navigation::client
ComponentPluginUser();
void configureNavigator(const client::NavigationStackConfig& stackConfig);
-
- void configureNavigator(const client::NavigationStackConfig& stackConfig,
- const std::string& configId);
-
-
+ Navigator& getNavigator() {
+ return plugin->navigator;
+ }
// Non-API
-
- public:
~ComponentPluginUser() override;
- friend class ComponentPlugin;
-
private:
- IceNavigator iceNavigator;
- // MemorySubscriber memorySubscriber;
- SimpleEventHandler memorySubscriber; // FIXME
- Navigator::InjectedServices navigatorServices{.navigator = &iceNavigator,
- .subscriber = &memorySubscriber};
-
-
ComponentPlugin* plugin = nullptr;
-
-
- public:
- Navigator navigator;
};
} // namespace armarx::navigation::client
diff --git a/source/armarx/navigation/components/example_client/Component.cpp b/source/armarx/navigation/components/example_client/Component.cpp
index 1a8b1fdd..5b702a53 100644
--- a/source/armarx/navigation/components/example_client/Component.cpp
+++ b/source/armarx/navigation/components/example_client/Component.cpp
@@ -103,10 +103,10 @@ namespace armarx::navigation::components::example_client
.trajectoryController(traj_ctrl::TrajectoryFollowingControllerParams()));
// Example of registering a lambda as callback.
- navigator.onGoalReached([&]() { ARMARX_IMPORTANT << "Goal reached! (lambda-style)"; });
+ getNavigator().onGoalReached([&]() { ARMARX_IMPORTANT << "Goal reached! (lambda-style)"; });
// Example of registering a method as callback.
- navigator.onGoalReached([this] { goalReached(); });
+ getNavigator().onGoalReached([this] { goalReached(); });
std::this_thread::sleep_for(1s);
@@ -115,12 +115,12 @@ namespace armarx::navigation::components::example_client
core::Pose goal = core::Pose::Identity();
goal.translation() << 2000, 1000, 0;
- navigator.moveTo(goal, core::NavigationFrame::Absolute);
+ getNavigator().moveTo(goal, core::NavigationFrame::Absolute);
std::this_thread::sleep_for(15s);
// Wait until goal is reached
- armarx::navigation::client::StopEvent se = navigator.waitForStop();
+ armarx::navigation::client::StopEvent se = getNavigator().waitForStop();
if (se)
{
ARMARX_INFO << "Goal 1 reached.";
@@ -143,12 +143,12 @@ namespace armarx::navigation::components::example_client
}
goal.translation() << -1500, 1000, 0;
- navigator.moveTo(goal, core::NavigationFrame::Absolute);
+ getNavigator().moveTo(goal, core::NavigationFrame::Absolute);
std::this_thread::sleep_for(15s);
// Wait until goal is reached
- se = navigator.waitForStop();
+ se = getNavigator().waitForStop();
if (se)
{
ARMARX_INFO << "Goal 2 reached.";
@@ -159,10 +159,10 @@ namespace armarx::navigation::components::example_client
}
goal.translation() << 4500, 4500, 0;
- navigator.moveTo(goal, core::NavigationFrame::Absolute);
+ getNavigator().moveTo(goal, core::NavigationFrame::Absolute);
// Wait until goal is reached
- se = navigator.waitForStop();
+ se = getNavigator().waitForStop();
if (se)
{
ARMARX_INFO << "Goal 3 reached.";
@@ -178,12 +178,12 @@ namespace armarx::navigation::components::example_client
ARMARX_INFO << "Moving into certain direction.";
// Start moving towards a direction
- navigator.moveTowards(core::Direction(100, 100, 0), core::NavigationFrame::Relative);
+ getNavigator().moveTowards(core::Direction(100, 100, 0), core::NavigationFrame::Relative);
std::this_thread::sleep_for(3s);
ARMARX_INFO << "Pausing movement.";
- navigator.pause();
+ getNavigator().pause();
}
void
@@ -206,10 +206,10 @@ namespace armarx::navigation::components::example_client
.trajectoryController(traj_ctrl::TrajectoryFollowingControllerParams()));
// Example of registering a lambda as callback.
- navigator.onGoalReached([&]() { ARMARX_IMPORTANT << "Goal reached! (lambda-style)"; });
+ getNavigator().onGoalReached([&]() { ARMARX_IMPORTANT << "Goal reached! (lambda-style)"; });
// Example of registering a method as callback.
- navigator.onGoalReached([this] { goalReached(); });
+ getNavigator().onGoalReached([this] { goalReached(); });
std::this_thread::sleep_for(1s);
@@ -232,12 +232,12 @@ namespace armarx::navigation::components::example_client
// clang-format on
ARMARX_INFO << "Starting execution";
- navigator.moveTo(pathBuilder, core::NavigationFrame::Absolute);
+ 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 = navigator.waitForStop();
+ armarx::navigation::client::StopEvent se = getNavigator().waitForStop();
if (se)
{
ARMARX_INFO << "Goal 1 reached.";
@@ -260,7 +260,7 @@ namespace armarx::navigation::components::example_client
}
ARMARX_INFO << "Pausing movement.";
- navigator.pause();
+ getNavigator().pause();
}
--
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