SharedRobot offers the proxy to the parent now

source/RobotAPI/components/RobotState/RobotStateComponent.cpp

@@ -131,7 +131,7 @@ namespace armarx
                 ARMARX_VERBOSE << "Node: " << node->getName() << endl;
             }
         }*/
-        _sharedRobotServant =  new SharedRobotServant(this->_synchronized);
+        _sharedRobotServant =  new SharedRobotServant(this->_synchronized, RobotStateComponentInterfacePrx::uncheckedCast(getProxy()));
         _sharedRobotServant->ref();
     }
 
@@ -172,7 +172,7 @@ namespace armarx
 
         auto clone = this->_synchronized->clone(_synchronized->getName());
 
-        SharedRobotServantPtr p = new SharedRobotServant(clone);
+        SharedRobotServantPtr p = new SharedRobotServant(clone, RobotStateComponentInterfacePrx::uncheckedCast(getProxy()));
         p->setTimestamp(IceUtil::Time::microSecondsDouble(_sharedRobotServant->getTimestamp()->timestamp));
         auto result = getObjectAdapter()->addWithUUID(p);
         // virtal robot clone is buggy -> set global pose here
@@ -197,7 +197,7 @@ namespace armarx
 
         clone->setJointValues(config.jointMap);
         clone->setGlobalPose(FramedPosePtr::dynamicCast(config.globalPose)->toEigen());
-        SharedRobotServantPtr p = new SharedRobotServant(clone);
+        SharedRobotServantPtr p = new SharedRobotServant(clone, RobotStateComponentInterfacePrx::uncheckedCast(getProxy()));
         p->setTimestamp(IceUtil::Time::microSecondsDouble(time));
         auto result = getObjectAdapter()->addWithUUID(p);
         // virtal robot clone is buggy -> set global pose here

source/RobotAPI/components/RobotState/SharedRobotServants.cpp

@@ -15,9 +15,9 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * @package    
- * @author     
- * @date       
+ * @package
+ * @author
+ * @date
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
@@ -282,8 +282,9 @@ namespace armarx
     // SharedRobotServant
     ///////////////////////////////
 
-    SharedRobotServant::SharedRobotServant(RobotPtr robot)
-        : _robot(robot)
+    SharedRobotServant::SharedRobotServant(RobotPtr robot, RobotStateComponentInterfacePrx robotStateComponent)
+        : _robot(robot),
+          robotStateComponent(robotStateComponent)
     {
 #ifdef VERBOSE
         ARMARX_WARNING_S << "construct " << this << flush;
@@ -307,6 +308,11 @@ namespace armarx
         }
     }
 
+    void SharedRobotServant::setRobotStateComponent(RobotStateComponentInterfacePrx robotStateComponent)
+    {
+        this->robotStateComponent = robotStateComponent;
+    }
+
     SharedRobotNodeInterfacePrx SharedRobotServant::getRobotNode(const string& name, const Current& current)
     {
         //    ARMARX_LOG_S << "Looking for node: " << name << flush;
@@ -445,6 +451,11 @@ namespace armarx
         return new TimestampVariant(updateTimestamp);
     }
 
+    RobotStateComponentInterfacePrx SharedRobotServant::getRobotStateComponent(const Current&) const
+    {
+        return robotStateComponent;
+    }
+
     void SharedRobotServant::setGlobalPose(const armarx::PoseBasePtr& pose, const Current&)
     {
         WriteLockPtr lock = _robot->getWriteLock();

source/RobotAPI/components/RobotState/SharedRobotServants.h

@@ -15,9 +15,9 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * @package    
- * @author     
- * @date       
+ * @package
+ * @author
+ * @date
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
@@ -72,7 +72,7 @@ namespace armarx
      */
     class SharedRobotNodeServant :
         virtual public SharedRobotNodeInterface,
-    public SharedObjectBase
+        public SharedObjectBase
     {
     public:
         SharedRobotNodeServant(VirtualRobot::RobotNodePtr node /*,const Ice::Current & current = Ice::Current()*/);
@@ -117,9 +117,9 @@ namespace armarx
         public SharedObjectBase
     {
     public:
-        SharedRobotServant(VirtualRobot::RobotPtr robot);
+        SharedRobotServant(VirtualRobot::RobotPtr robot, RobotStateComponentInterfacePrx robotStateComponent);
         ~SharedRobotServant();
-
+        void setRobotStateComponent(RobotStateComponentInterfacePrx robotStateComponent);
         virtual SharedRobotNodeInterfacePrx getRobotNode(const std::string& name, const Ice::Current& current = Ice::Current());
         virtual SharedRobotNodeInterfacePrx getRootNode(const Ice::Current& current = Ice::Current());
         virtual bool hasRobotNode(const std::string& name, const Ice::Current& current = Ice::Current());
@@ -140,11 +140,14 @@ namespace armarx
 
         void setTimestamp(const IceUtil::Time& updateTime);
         TimestampBasePtr getTimestamp(const Ice::Current& = Ice::Current()) const;
+        RobotStateComponentInterfacePrx getRobotStateComponent(const Ice::Current&) const;
     protected:
         VirtualRobot::RobotPtr _robot;
         boost::recursive_mutex m;
         std::map<std::string, SharedRobotNodeInterfacePrx> _cachedNodes;
         IceUtil::Time updateTimestamp;
+        RobotStateComponentInterfacePrx robotStateComponent;
+
     };
 
     typedef IceInternal::Handle<SharedRobotServant> SharedRobotServantPtr;

source/RobotAPI/interface/core/RobotState.ice

@@ -118,12 +118,20 @@ module armarx
     };
 
 
+    interface RobotStateComponentInterface;
+
     /**
      * The SharedRobotInterface provides access to a limited amount of
      * VirtualRobot::Robot methods over the Ice network.
      */
     interface SharedRobotInterface extends SharedObjectInterface
     {
+        /**
+          * @return returns the RobotStateComponent this robot belongs to
+          */
+        ["cpp:const"] idempotent
+        RobotStateComponentInterface* getRobotStateComponent();
+
         SharedRobotNodeInterface* getRobotNode(string name);
         SharedRobotNodeInterface* getRootNode();
         bool hasRobotNode(string name);
@@ -143,6 +151,7 @@ module armarx
         void setGlobalPose(PoseBase globalPose);
         PoseBase getGlobalPose();
         NameValueMap getConfig();
+
     };