From 586e20c3f59138587872caafefa3dcd95a6e5b1f Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Thu, 3 Aug 2023 10:16:14 +0200
Subject: [PATCH] test scenario for robot health
---
scenarios/RobotHealthTest/RobotHealthTest.scx | 2 +-
.../RobotHealthTest/config/RobotHealthApp.cfg | 51 +++++++------------
.../RobotHealthDummyApp.HealthDummy1.cfg | 2 +-
.../RobotHealthDummyApp.HealthDummy2.cfg | 4 +-
4 files changed, 21 insertions(+), 38 deletions(-)
diff --git a/scenarios/RobotHealthTest/RobotHealthTest.scx b/scenarios/RobotHealthTest/RobotHealthTest.scx
index c0dde0a3b..68dad197b 100644
--- a/scenarios/RobotHealthTest/RobotHealthTest.scx
+++ b/scenarios/RobotHealthTest/RobotHealthTest.scx
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
<scenario name="RobotHealthTest" creation="2018-11-30.11:42:03" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
- <application name="RobotHealthApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RobotHealthApp" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
<application name="RobotHealthDummyApp" instance="HealthDummy1" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
<application name="RobotHealthDummyApp" instance="HealthDummy2" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/RobotHealthTest/config/RobotHealthApp.cfg b/scenarios/RobotHealthTest/config/RobotHealthApp.cfg
index b91501c1a..ebffea693 100644
--- a/scenarios/RobotHealthTest/config/RobotHealthApp.cfg
+++ b/scenarios/RobotHealthTest/config/RobotHealthApp.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
@@ -109,20 +109,12 @@
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.RobotHealth.AggregatedRobotHealthTopicName: Name of the AggregatedRobotHealthTopic
+# ArmarX.RobotHealth.DebugObserverTopicName: Name of the topic the DebugObserver listens on
# Attributes:
-# - Default: AggregatedRobotHealthTopic
+# - Default: DebugObserver
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotHealth.AggregatedRobotHealthTopicName = AggregatedRobotHealthTopic
-
-
-# ArmarX.RobotHealth.EmergencyStopTopicName: The name of the topic over which changes of the emergencyStopState are sent.
-# Attributes:
-# - Default: EmergencyStop
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.RobotHealth.EmergencyStopTopicName = EmergencyStop
+# ArmarX.RobotHealth.DebugObserverTopicName = DebugObserver
# ArmarX.RobotHealth.EnableProfiling: enable profiler which is used for logging performance events
@@ -159,37 +151,36 @@
# ArmarX.RobotHealth.MinimumLoggingLevel = Undefined
-# ArmarX.RobotHealth.ObjectName: Name of IceGrid well-known object
+# ArmarX.RobotHealth.Name of the AggregatedRobotHealthTopic: Name of the `AggregatedRobotHealth` topic to publish data to.
# Attributes:
-# - Default: ""
+# - Default: AggregatedRobotHealthTopic
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotHealth.ObjectName = ""
+# ArmarX.RobotHealth.Name of the AggregatedRobotHealthTopic = AggregatedRobotHealthTopic
-# ArmarX.RobotHealth.ReportErrorsWithSpeech:
+# ArmarX.RobotHealth.ObjectName: Name of IceGrid well-known object
# Attributes:
-# - Default: true
+# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.RobotHealth.ReportErrorsWithSpeech = true
+# ArmarX.RobotHealth.ObjectName = ""
-# ArmarX.RobotHealth.RequiredComponents: Comma separated list of required components
+# ArmarX.RobotHealth.RequiredTags: Tags that should be requested.
# Attributes:
# - Default: ""
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotHealth.RequiredComponents = ""
+# ArmarX.RobotHealth.RequiredTags = ""
-# ArmarX.RobotHealth.RobotHealthTopicName: Name of the RobotHealth topic
+# ArmarX.RobotHealth.RobotHealthTopic: Name of the RobotHealth topic
# Attributes:
# - Default: RobotHealthTopic
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotHealth.RobotHealthTopicName = RobotHealthTopic
+# ArmarX.RobotHealth.RobotHealthTopic = RobotHealthTopic
# ArmarX.RobotHealth.RobotUnitName: No Description
@@ -208,20 +199,12 @@ ArmarX.RobotHealth.RobotUnitName = RobotUnitSimulation
ArmarX.RobotHealth.RobotUnitRequired = 0
-# ArmarX.RobotHealth.SpeechMinimumReportInterval: Time that has to pass between reported messages in seconds.
+# ArmarX.RobotHealth.The name of the topic over which changes of the emergencyStopState are sent.: Name of the `EmergencyStop` topic to publish data to.
# Attributes:
-# - Default: 60
-# - Case sensitivity: yes
-# - Required: no
-# ArmarX.RobotHealth.SpeechMinimumReportInterval = 60
-
-
-# ArmarX.RobotHealth.TextToSpeechTopicName: Name of the TextToSpeech topic
-# Attributes:
-# - Default: TextToSpeech
+# - Default: EmergencyStop
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotHealth.TextToSpeechTopicName = TextToSpeech
+# ArmarX.RobotHealth.The name of the topic over which changes of the emergencyStopState are sent. = EmergencyStop
# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
diff --git a/scenarios/RobotHealthTest/config/RobotHealthDummyApp.HealthDummy1.cfg b/scenarios/RobotHealthTest/config/RobotHealthDummyApp.HealthDummy1.cfg
index 5df0ff4cf..0f14e83d2 100644
--- a/scenarios/RobotHealthTest/config/RobotHealthDummyApp.HealthDummy1.cfg
+++ b/scenarios/RobotHealthTest/config/RobotHealthDummyApp.HealthDummy1.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/RobotHealthTest/config/RobotHealthDummyApp.HealthDummy2.cfg b/scenarios/RobotHealthTest/config/RobotHealthDummyApp.HealthDummy2.cfg
index 60d2ee3f2..e157c2704 100644
--- a/scenarios/RobotHealthTest/config/RobotHealthDummyApp.HealthDummy2.cfg
+++ b/scenarios/RobotHealthTest/config/RobotHealthDummyApp.HealthDummy2.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
@@ -148,7 +148,7 @@ ArmarX.RobotHealthDummy.ObjectName = HealthDummy2
# - Default: nanosleep
# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotHealthDummy.SleepMode = nanosleep
+ArmarX.RobotHealthDummy.SleepMode = std::this_thread::sleep_for
# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
--
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