From 32aee0ac4369078f1cfbb53ff5bdc05e883eb3a6 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Tue, 4 Jan 2022 16:34:45 +0100
Subject: [PATCH] ArViz: Add usingProxy to component plugin
---
.../components/ArViz/Client/Client.cpp | 27 +++++++++++++++++++
.../RobotAPI/components/ArViz/Client/Client.h | 27 +++----------------
.../ArVizComponentPlugin.cpp | 1 +
3 files changed, 31 insertions(+), 24 deletions(-)
diff --git a/source/RobotAPI/components/ArViz/Client/Client.cpp b/source/RobotAPI/components/ArViz/Client/Client.cpp
index e40147d69..3e6bcf38c 100644
--- a/source/RobotAPI/components/ArViz/Client/Client.cpp
+++ b/source/RobotAPI/components/ArViz/Client/Client.cpp
@@ -68,6 +68,33 @@ Client Client::createForGuiPlugin(Component& component,
return client;
}
+CommitResult Client::commit(const StagedCommit& commit)
+{
+ CommitResult result;
+ result.data_ = storage->commitAndReceiveInteractions(commit.data_);
+ return result;
+}
+
+CommitResultAsync Client::commitAsync(const StagedCommit& commit)
+{
+ CommitResultAsync result;
+ result.async = storage->begin_commitAndReceiveInteractions(commit.data_);
+ result.storage = storage;
+ return result;
+}
+
+void Client::commit(const std::vector<Layer>& layers)
+{
+ data::LayerUpdateSeq updates;
+ updates.reserve(layers.size());
+ for (Layer const& layer : layers)
+ {
+ updates.push_back(layer.data_);
+ }
+ // This commit call still uses the legacy topic API
+ topic->updateLayers(updates);
+}
+
}
diff --git a/source/RobotAPI/components/ArViz/Client/Client.h b/source/RobotAPI/components/ArViz/Client/Client.h
index 0a93e7025..68e086ac5 100644
--- a/source/RobotAPI/components/ArViz/Client/Client.h
+++ b/source/RobotAPI/components/ArViz/Client/Client.h
@@ -313,37 +313,16 @@ namespace viz
return StagedCommit();
}
- CommitResult commit(StagedCommit const& commit)
- {
- CommitResult result;
- result.data_ = storage->commitAndReceiveInteractions(commit.data_);
- return result;
- }
+ CommitResult commit(StagedCommit const& commit);
- CommitResultAsync commitAsync(StagedCommit const& commit)
- {
- CommitResultAsync result;
- result.async = storage->begin_commitAndReceiveInteractions(commit.data_);
- result.storage = storage;
- return result;
- }
+ CommitResultAsync commitAsync(StagedCommit const& commit);
void commit(Layer const& layer)
{
commit({layer});
}
- void commit(std::vector<Layer> const& layers)
- {
- data::LayerUpdateSeq updates;
- updates.reserve(layers.size());
- for (Layer const& layer : layers)
- {
- updates.push_back(layer.data_);
- }
- // This commit call still uses the legacy topic API
- topic->updateLayers(updates);
- }
+ void commit(std::vector<Layer> const& layers);
void commitLayerContaining(std::string const& name)
{
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.cpp
index 200268977..7c63d33b7 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.cpp
@@ -29,6 +29,7 @@ namespace armarx::plugins
void ArVizComponentPlugin::preOnInitComponent()
{
parent().offeringTopic(getTopicName());
+ parent().usingProxy(getStorageName());
}
void ArVizComponentPlugin::preOnConnectComponent()
--
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