From b1f22454ff70eaac5f5b3d0047575deb728cd0ac Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Tue, 21 Mar 2017 22:56:31 +0100
Subject: [PATCH] adjusted weisshapticgroup
---
.../WeissHapticGroup/CMakeLists.txt | 6 +-
.../WeissHapticGroup/WeissHapticGroup.scgxml | 1 -
...ssHapticGroupStatechartContext.generated.h | 88 -----------
.../WeissHapticSensorTest.cpp | 9 +-
.../WeissHapticSensorTest.generated.h | 143 ------------------
.../WeissHapticGroup/WeissHapticSensorTest.h | 8 +-
.../WeissHapticSensorTest.xml | 1 +
7 files changed, 13 insertions(+), 243 deletions(-)
delete mode 100644 source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupStatechartContext.generated.h
delete mode 100644 source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/CMakeLists.txt b/source/RobotAPI/statecharts/WeissHapticGroup/CMakeLists.txt
index b0fea04f1..942e26f9d 100644
--- a/source/RobotAPI/statecharts/WeissHapticGroup/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/CMakeLists.txt
@@ -38,11 +38,11 @@ WeissHapticGroupRemoteStateOfferer.cpp
set(HEADERS
WeissHapticGroupRemoteStateOfferer.h
-WeissHapticGroupStatechartContext.generated.h
+WeissHapticGroup.scgxml
./WeissHapticSensorTest.h
#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
-./WeissHapticSensorTest.generated.h
-#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.generated.h
+./WeissHapticSensorTest.xml
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.xml
)
armarx_add_component("${SOURCES}" "${HEADERS}")
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroup.scgxml b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroup.scgxml
index f9f78a7ca..5f7a0472c 100644
--- a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroup.scgxml
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroup.scgxml
@@ -6,4 +6,3 @@
</Proxies>
<State filename="WeissHapticSensorTest.xml" visibility="public"/>
</StatechartGroup>
-
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupStatechartContext.generated.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupStatechartContext.generated.h
deleted file mode 100644
index 82ecaf358..000000000
--- a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticGroupStatechartContext.generated.h
+++ /dev/null
@@ -1,88 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * 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
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-#ifndef ARMARX_COMPONENT_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICGROUPSTATECHARTCONTEXT_H
-#define ARMARX_COMPONENT_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICGROUPSTATECHARTCONTEXT_H
-
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/system/ImportExportComponent.h>
-#include <ArmarXCore/statechart/StatechartContext.h>
-#include <RobotAPI/interface/units/HapticUnit.h>
-#include <RobotAPI/interface/units/WeissHapticUnit.h>
-
-namespace armarx
-{
- namespace WeissHapticGroup
- {
- class WeissHapticGroupStatechartContext
- : virtual public StatechartContext
- {
- protected:
- class PropertyDefinitions
- : public StatechartContextPropertyDefinitions
- {
- public:
- PropertyDefinitions(std::string prefix)
- : StatechartContextPropertyDefinitions(prefix)
- {
- defineOptionalProperty<std::string>("HapticUnitObserverName", "HapticUnitObserver", "Name of the haptic unit observer that should be used");
- defineOptionalProperty<std::string>("WeissHapticUnitName", "WeissHapticUnit", "Name of the weiss haptic unit that should be used");
- }
- }; // class PropertyDefinitions
-
- private:
- HapticUnitObserverInterfacePrx hapticObserver;
- WeissHapticUnitInterfacePrx weissHapticUnit;
-
- public:
- std::string getDefaultName() const
- {
- return "WeissHapticGroupStatechartContext";
- }
- virtual void onInitStatechartContext()
- {
- usingProxy(getProperty<std::string>("HapticUnitObserverName").getValue());
- usingProxy(getProperty<std::string>("WeissHapticUnitName").getValue());
- }
- virtual void onConnectStatechartContext()
- {
- hapticObserver = getProxy<HapticUnitObserverInterfacePrx>(getProperty<std::string>("HapticUnitObserverName").getValue());
- weissHapticUnit = getProxy<WeissHapticUnitInterfacePrx>(getProperty<std::string>("WeissHapticUnitName").getValue());
- }
- HapticUnitObserverInterfacePrx getHapticObserver() const
- {
- return hapticObserver;
- }
- WeissHapticUnitInterfacePrx getWeissHapticUnit() const
- {
- return weissHapticUnit;
- }
- virtual PropertyDefinitionsPtr createPropertyDefinitions()
- {
- return PropertyDefinitionsPtr(new WeissHapticGroupStatechartContext::PropertyDefinitions(getConfigIdentifier()));
- }
- }; // class WeissHapticGroupStatechartContext
- } // namespace WeissHapticGroup
-} // namespace armarx
-
-#endif // ARMARX_COMPONENT_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICGROUPSTATECHARTCONTEXT_H
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.cpp b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.cpp
index 679050db7..f825d0760 100644
--- a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.cpp
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.cpp
@@ -27,10 +27,12 @@
#include <RobotAPI/libraries/core/observerfilters/MatrixFilters.h>
#include <RobotAPI/libraries/core/observerfilters/OffsetFilter.h>
+#include <ArmarXCore/observers/variant/DatafieldRef.h>
+
using namespace armarx;
using namespace WeissHapticGroup;
-// DO NOT EDIT NEXT LINE
+//// DO NOT EDIT NEXT LINE
WeissHapticSensorTest::SubClassRegistry WeissHapticSensorTest::Registry(WeissHapticSensorTest::GetName(), &WeissHapticSensorTest::CreateInstance);
@@ -40,10 +42,10 @@ WeissHapticSensorTest::WeissHapticSensorTest(const XMLStateConstructorParams& st
{
}
+
void WeissHapticSensorTest::onEnter()
{
- WeissHapticGroupStatechartContext* context = getContext<WeissHapticGroupStatechartContext>();
- HapticUnitObserverInterfacePrx hapticObserver = context->getHapticObserver();
+ HapticUnitObserverInterfacePrx hapticObserver = getHapticObserver();
ChannelRegistry channels = hapticObserver->getAvailableChannels(false);
std::map<std::string, DatafieldRefPtr> tactileDatafields_MaximumValueMap;
@@ -110,7 +112,6 @@ void WeissHapticSensorTest::onExit()
}
-
// DO NOT EDIT NEXT FUNCTION
XMLStateFactoryBasePtr WeissHapticSensorTest::CreateInstance(XMLStateConstructorParams stateData)
{
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h
deleted file mode 100644
index bea113238..000000000
--- a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h
+++ /dev/null
@@ -1,143 +0,0 @@
-/*
- * This file is part of ArmarX.
- *
- * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * 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
- * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
- * GNU General Public License
- */
-#ifndef _ARMARX_XMLUSERCODE_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICSENSORTESTGENERATEDBASE_H
-#define _ARMARX_XMLUSERCODE_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICSENSORTESTGENERATEDBASE_H
-
-#include <ArmarXCore/statechart/xmlstates/XMLState.h>
-#include "WeissHapticGroupStatechartContext.generated.h"
-#include <ArmarXCore/observers/ObserverObjectFactories.h>
-#include <RobotAPI/interface/units/HapticUnit.h>
-#include <RobotAPI/interface/units/WeissHapticUnit.h>
-
-namespace armarx
-{
- namespace WeissHapticGroup
- {
- template<typename StateType>
- class WeissHapticSensorTestGeneratedBase
- : virtual public XMLStateTemplate < StateType >,
- public XMLStateFactoryBase
- {
- protected:
- class WeissHapticSensorTestIn
- {
- private:
- WeissHapticSensorTestGeneratedBase<StateType>* parent;
-
- public:
- WeissHapticSensorTestIn(WeissHapticSensorTestGeneratedBase<StateType>* parent)
- : parent(parent)
- {
- }
- }; // class WeissHapticSensorTestIn
-
- class WeissHapticSensorTestLocal
- {
- private:
- WeissHapticSensorTestGeneratedBase<StateType>* parent;
-
- public:
- WeissHapticSensorTestLocal(WeissHapticSensorTestGeneratedBase<StateType>* parent)
- : parent(parent)
- {
- }
-
- public:
- std::map<std::string, ::armarx::DatafieldRefPtr> getTactileDatafields_MaximumValue() const
- {
- return parent->State::getLocal< ::armarx::StringValueMap>("TactileDatafields_MaximumValue")->::armarx::StringValueMap::toStdMap< ::armarx::DatafieldRefPtr>();
- }
- void setTactileDatafields_MaximumValue(const std::map<std::string, ::armarx::DatafieldRefPtr>& value) const
- {
- ::armarx::StringValueMapPtr container = ::armarx::StringValueMap::FromStdMap< ::armarx::DatafieldRefPtr>(value);
- parent->State::setLocal("TactileDatafields_MaximumValue", *container);
- }
- bool isTactileDatafields_MaximumValueSet() const
- {
- return parent->State::isLocalParameterSet("TactileDatafields_MaximumValue");
- }
- }; // class WeissHapticSensorTestLocal
-
- class WeissHapticSensorTestOut
- {
- private:
- WeissHapticSensorTestGeneratedBase<StateType>* parent;
-
- public:
- WeissHapticSensorTestOut(WeissHapticSensorTestGeneratedBase<StateType>* parent)
- : parent(parent)
- {
- }
- }; // class WeissHapticSensorTestOut
-
- protected:
- const WeissHapticSensorTestIn in;
- const WeissHapticSensorTestLocal local;
- const WeissHapticSensorTestOut out;
-
- public:
- WeissHapticSensorTestGeneratedBase(const XMLStateConstructorParams& stateData)
- : XMLStateTemplate < StateType > (stateData),
- in(WeissHapticSensorTestIn(this)),
- local(WeissHapticSensorTestLocal(this)),
- out(WeissHapticSensorTestOut(this))
- {
- }
- WeissHapticSensorTestGeneratedBase(const WeissHapticSensorTestGeneratedBase& source)
- : IceUtil::Shared(source),
- armarx::StateIceBase(source),
- armarx::StateBase(source),
- armarx::StateController(source),
- armarx::State(source),
- XMLStateTemplate < StateType > (source),
- in(WeissHapticSensorTestIn(this)),
- local(WeissHapticSensorTestLocal(this)),
- out(WeissHapticSensorTestOut(this))
- {
- }
-
- public:
- HapticUnitObserverInterfacePrx getHapticObserver() const
- {
- return StateBase::getContext<WeissHapticGroupStatechartContext>()->getHapticObserver();
- }
- WeissHapticUnitInterfacePrx getWeissHapticUnit() const
- {
- return StateBase::getContext<WeissHapticGroupStatechartContext>()->getWeissHapticUnit();
- }
- static std::string GetName()
- {
- return "WeissHapticSensorTest";
- }
- void __forceLibLoading()
- {
- // Do not call this method.
- // The sole purpose of this method is to force the compiler/linker to include all libraries.
- ::armarx::DatafieldRef type1;
- }
- }; // class WeissHapticSensorTestGeneratedBase
- } // namespace WeissHapticGroup
-} // namespace armarx
-
-#endif // _ARMARX_XMLUSERCODE_ARMARX_WEISSHAPTICGROUP_WEISSHAPTICSENSORTESTGENERATEDBASE_H
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h
index 8a9424eea..81cd19516 100644
--- a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.h
@@ -21,17 +21,17 @@
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
* GNU General Public License
*/
-
#ifndef _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_WeissHapticSensorTest_H
#define _ARMARX_XMLUSERCODE_RobotAPI_WeissHapticGroup_WeissHapticSensorTest_H
-#include "WeissHapticSensorTest.generated.h"
+#include <RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.generated.h>
namespace armarx
{
namespace WeissHapticGroup
{
- class WeissHapticSensorTest :
+ class WeissHapticSensorTest
+ :
public WeissHapticSensorTestGeneratedBase<WeissHapticSensorTest>
{
public:
@@ -43,7 +43,7 @@ namespace armarx
void onBreak();
void onExit();
- // static functions for AbstractFactory Method
+ // // static functions for AbstractFactory Method
static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
static SubClassRegistry Registry;
diff --git a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.xml b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.xml
index cb8448c7c..6e9d45bd3 100644
--- a/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.xml
+++ b/source/RobotAPI/statecharts/WeissHapticGroup/WeissHapticSensorTest.xml
@@ -10,3 +10,4 @@
<Transitions/>
</State>
+
--
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