From 2ac8e4275d49c968d051284a012b3971c66f48c2 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Fri, 11 Mar 2016 14:25:09 +0100
Subject: [PATCH] fixed statechart profile prefix
---
.../config/RobotControl.cfg | 2 +-
.../tests/StatechartProfilesTestArmar3a/config/RobotControl.cfg | 2 +-
source/RobotAPI/statecharts/operations/RobotControl.cpp | 2 +-
source/RobotAPI/statecharts/operations/RobotControl.h | 2 ++
4 files changed, 5 insertions(+), 3 deletions(-)
diff --git a/scenarios/tests/StatechartProfilesTestArmar3Simulation/config/RobotControl.cfg b/scenarios/tests/StatechartProfilesTestArmar3Simulation/config/RobotControl.cfg
index 01fcafba4..6c8b174ef 100644
--- a/scenarios/tests/StatechartProfilesTestArmar3Simulation/config/RobotControl.cfg
+++ b/scenarios/tests/StatechartProfilesTestArmar3Simulation/config/RobotControl.cfg
@@ -112,6 +112,6 @@ ArmarX.RobotControlStateOfferer.proxyName = "StatechartProfilesTestGroupRemoteSt
# - Case sensitivity: no
# - Required: no
# ArmarX.RobotControlStateOfferer.ObjectName = ""
-
+ArmarX.RobotControlStateOfferer.XMLStatechartProfile = "Armar3Simulation"
diff --git a/scenarios/tests/StatechartProfilesTestArmar3a/config/RobotControl.cfg b/scenarios/tests/StatechartProfilesTestArmar3a/config/RobotControl.cfg
index 01fcafba4..0de35bad4 100644
--- a/scenarios/tests/StatechartProfilesTestArmar3a/config/RobotControl.cfg
+++ b/scenarios/tests/StatechartProfilesTestArmar3a/config/RobotControl.cfg
@@ -113,5 +113,5 @@ ArmarX.RobotControlStateOfferer.proxyName = "StatechartProfilesTestGroupRemoteSt
# - Required: no
# ArmarX.RobotControlStateOfferer.ObjectName = ""
-
+ArmarX.XMLStateComponent.XMLStatechartProfile = "Armar3a"
diff --git a/source/RobotAPI/statecharts/operations/RobotControl.cpp b/source/RobotAPI/statecharts/operations/RobotControl.cpp
index 47c178faa..d99d262ac 100644
--- a/source/RobotAPI/statecharts/operations/RobotControl.cpp
+++ b/source/RobotAPI/statecharts/operations/RobotControl.cpp
@@ -80,7 +80,7 @@ namespace armarx
robotFunctionalState = stateList.begin()->second;
callRemoteState(stateId, StringVariantContainerBaseMap());
- const std::string proxyName = getProperty<std::string>("proxyName").getValue();
+ const std::string proxyName = getProperty<std::string>("XMLStatechartProfile").getValue() + getProperty<std::string>("proxyName").getValue();
const std::string stateName = getProperty<std::string>("stateName").getValue();
ARMARX_IMPORTANT << VAROUT(proxyName) << VAROUT(stateName);
diff --git a/source/RobotAPI/statecharts/operations/RobotControl.h b/source/RobotAPI/statecharts/operations/RobotControl.h
index c0d2cb409..fa875b00e 100644
--- a/source/RobotAPI/statecharts/operations/RobotControl.h
+++ b/source/RobotAPI/statecharts/operations/RobotControl.h
@@ -38,6 +38,8 @@ namespace armarx
RobotControlContextProperties(std::string prefix):
StatechartContextPropertyDefinitions(prefix)
{
+
+ defineOptionalProperty<std::string>("XMLStatechartProfile", "", "Name of the statechart profile to be used. This is used as prefix to the proxyName. So GraspGroupRemoteStateOfferer will be Armar3aGraspGroupRemoteStateOfferer");
defineOptionalProperty<std::string>("proxyName", "", "name of the proxy to load");
defineOptionalProperty<std::string>("stateName", "", "name of the state to load");
}
--
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