From 5cb6a9018fd85a827f3a3c0c6a058ece3f533f69 Mon Sep 17 00:00:00 2001
From: Nikolaus Vahrenkamp <vahrenkamp@kit.edu>
Date: Mon, 20 Oct 2014 22:31:48 +0200
Subject: [PATCH] Add method to retrieve the config robot xml filename
---
source/RobotAPI/interface/robotstate/RobotState.ice | 6 ++++++
.../RobotAPI/libraries/robotstate/RobotStateComponent.cpp | 7 ++++++-
source/RobotAPI/libraries/robotstate/RobotStateComponent.h | 6 +++++-
3 files changed, 17 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/interface/robotstate/RobotState.ice b/source/RobotAPI/interface/robotstate/RobotState.ice
index e254732b9..d58c6fdd6 100644
--- a/source/RobotAPI/interface/robotstate/RobotState.ice
+++ b/source/RobotAPI/interface/robotstate/RobotState.ice
@@ -120,10 +120,16 @@ module armarx
* @return proxy to the shared robot which constantly updates all joint values
*/
SharedRobotInterface* getSynchronizedRobot();
+
/**
* @return proxy to a copy of the shared robot with non updating joint values
*/
SharedRobotInterface* getRobotSnapshot(string time);
+
+ /**
+ * @return the robot xml filename as specified in the configuration
+ */
+ string getRobotFilename();
};
};
diff --git a/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp b/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
index cc50f66c1..d5c81c859 100644
--- a/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
+++ b/source/RobotAPI/libraries/robotstate/RobotStateComponent.cpp
@@ -151,7 +151,12 @@ namespace armarx
// ARMARX_VERBOSE_S << "duration: " << (IceUtil::Time::now() - start).toMilliSeconds() << " ms";
}
-
+ std::string RobotStateComponent::getRobotFilename(const Ice::Current&)
+ {
+ std::string robotFile = getProperty<std::string>("RobotFileName").getValue();
+ return robotFile;
+ }
+
void RobotStateComponent::reportControlModeChanged(const NameControlModeMap& jointModes, bool aValueChanged,const Current& c){}
void RobotStateComponent::reportJointVelocities(const NameValueMap& jointVelocities, bool aValueChanged,const Current& c){}
void RobotStateComponent::reportJointTorques(const NameValueMap& jointTorques, bool aValueChanged,const Current& c){}
diff --git a/source/RobotAPI/libraries/robotstate/RobotStateComponent.h b/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
index d4dafacca..8b1bc656a 100644
--- a/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
+++ b/source/RobotAPI/libraries/robotstate/RobotStateComponent.h
@@ -91,7 +91,11 @@ namespace armarx
* \return clone of the internal synchronized robot
*/
virtual SharedRobotInterfacePrx getRobotSnapshot(const std::string & time, const Ice::Current&);
-
+
+ /**
+ * \return the robot xml filename as specified in the configuration
+ */
+ virtual std::string getRobotFilename(const Ice::Current&);
/**
* Create an instance of RobotStatePropertyDefinitions.
--
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