Modifications to HapticUnit ice interface

.gitignore

@@ -45,4 +45,5 @@ data/dbdump/
 # Generated Scenario Files
 scenarios/*/startScenario.sh
 scenarios/*/stopScenario.sh
+scenarios/*/startGui.sh
 

interface/slice/units/HapticUnit.ice

@@ -29,6 +29,7 @@
 #include <core/BasicTypes.ice>
 #include <observers/VariantBase.ice>
 #include <observers/Matrix.ice>
+#include <observers/Timestamp.ice>
 #include <observers/ObserverInterface.ice>
 #include <robotstate/RobotState.ice>
 
@@ -40,7 +41,7 @@ module armarx
 
     interface HapticUnitListener
     {
-        void reportSensorValues(string type, MatrixFloatBase values);
+        void reportSensorValues(string device, string name, MatrixFloatBase values, TimestampBase timestamp);
     };
 
     interface HapticUnitObserverInterface extends ObserverInterface, HapticUnitListener

source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.cpp

@@ -57,7 +57,7 @@ PropertyDefinitionsPtr WeissHapticSensorListener::createPropertyDefinitions()
                                       getConfigIdentifier()));
 }
 
-void armarx::WeissHapticSensorListener::reportSensorValues(const std::string& type, const armarx::MatrixFloatBasePtr& values, const Ice::Current&)
+void armarx::WeissHapticSensorListener::reportSensorValues(const std::string& device, const std::string& name, const armarx::MatrixFloatBasePtr& values, const armarx::TimestampBasePtr& timestamp, const Ice::Current&)
 {
     ARMARX_LOG << deactivateSpam(1) << "WeissHapticSensorListener::reportSensorValues" << MatrixFloatPtr::dynamicCast(values)->toEigen();
 

source/RobotAPI/armarx-objects/WeissHapticSensorListener/WeissHapticSensorListener.h

@@ -30,6 +30,7 @@
 #include <Core/util/variants/eigen3/MatrixVariant.h>
 #include <Core/util/variants/eigen3/VariantObjectFactories.h>
 
+
 namespace armarx
 {
     /**
@@ -68,7 +69,7 @@ namespace armarx
             return "WeissHapticSensorListener";
         }
 
-        virtual void reportSensorValues(const ::std::string& type, const ::armarx::MatrixFloatBasePtr& values, const ::Ice::Current& = ::Ice::Current());
+        virtual void reportSensorValues(const ::std::string& device, const ::std::string& name, const ::armarx::MatrixFloatBasePtr& values, const ::armarx::TimestampBasePtr& timestamp, const ::Ice::Current& = ::Ice::Current());
 
     protected:
         /**

source/RobotAPI/drivers/WeissHapticSensor/WeissHapticSensor.cpp

 #include "WeissHapticSensor.h"
 #include <Core/util/variants/eigen3/MatrixVariant.h>
+#include <Core/observers/variant/TimestampVariant.h>
 
 
 using namespace armarx;
@@ -85,7 +86,8 @@ void WeissHapticSensor::readAndReportSensorValues()
                 (*matrix)(y, x) = val;
             }
         }
-        listenerPrx->reportSensorValues(tag, matrix);
+        TimestampVariantPtr timestamp = new TimestampVariant(0);
+        listenerPrx->reportSensorValues(device, tag, matrix, timestamp);
     }
 
     cout << this << ": stopPeriodicFrameAcquisition" << endl;

source/RobotAPI/units/HapticObserver.cpp

@@ -40,28 +40,29 @@ void HapticObserver::onConnectObserver()
 {
 }
 
-void HapticObserver::reportSensorValues(const std::string &type, const MatrixFloatBasePtr &values, const Ice::Current &)
+void HapticObserver::reportSensorValues(const std::string& device, const std::string& name, const armarx::MatrixFloatBasePtr& values, const armarx::TimestampBasePtr& timestamp, const Ice::Current&)
 {
     ScopedLock lock(dataMutex);
     MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(values);
     Eigen::MatrixXf eigenMatrix = matrix->toEigen();
     float max = eigenMatrix.maxCoeff();
     float mean = eigenMatrix.mean();
-    if(!existsChannel(type))
+    if(!existsChannel(device))
     {
-        offerChannel(type, "Force and Torque vectors on specific parts of the robot.");
-        offerDataFieldWithDefault(type, "matrix", matrix, "Raw tactile matrix data");
-        offerDataFieldWithDefault(type, "max", Variant(max), "Maximum value");
-        offerDataFieldWithDefault(type, "mean", Variant(mean), "Mean value");
+        offerChannel(device, "Haptic data");
+        offerDataFieldWithDefault(device, "name", Variant(name), "Name of the tactile sensor");
+        offerDataFieldWithDefault(device, "matrix", matrix, "Raw tactile matrix data");
+        offerDataFieldWithDefault(device, "max", Variant(max), "Maximum value");
+        offerDataFieldWithDefault(device, "mean", Variant(mean), "Mean value");
     }
     else
     {
-        setDataField(type, "matrix", matrix);
-        setDataField(type, "max", Variant(max));
-        setDataField(type, "mean", Variant(mean));
+        setDataField(device, "matrix", matrix);
+        setDataField(device, "max", Variant(max));
+        setDataField(device, "mean", Variant(mean));
     }
 
-    updateChannel(type);
+    updateChannel(device);
 }
 
 PropertyDefinitionsPtr HapticObserver::createPropertyDefinitions()

source/RobotAPI/units/HapticObserver.h

@@ -56,7 +56,7 @@ namespace armarx
         void onInitObserver();
         void onConnectObserver();
 
-        void reportSensorValues(const std::string &type, const ::armarx::MatrixFloatBasePtr &values, const ::Ice::Current& = ::Ice::Current());
+        void reportSensorValues(const ::std::string& device, const ::std::string& name, const ::armarx::MatrixFloatBasePtr& values, const ::armarx::TimestampBasePtr& timestamp, const ::Ice::Current& = ::Ice::Current());
 
         /**
          * @see PropertyUser::createPropertyDefinitions()