Add ObjectPoseClient plugin

source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt

@@ -13,6 +13,7 @@ set(SOURCES
     ObjectPoseObserver.cpp
 
     plugins/ObjectPoseProvider.cpp
+    plugins/ObjectPoseClient.cpp
 
     ObjectFinder.cpp
     ice_conversions.cpp
@@ -22,6 +23,7 @@ set(HEADERS
     ObjectPoseObserver.h
 
     plugins/ObjectPoseProvider.h
+    plugins/ObjectPoseClient.h
 
     ObjectFinder.h
     ice_conversions.h

source/RobotAPI/components/ObjectPoseObserver/plugins/ObjectPoseClient.cpp

+#include "ObjectPoseClient.h"
+
+
+namespace armarx::plugins
+{
+
+    void ObjectPoseClientPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+    {
+        if (!properties->hasDefinition(makePropertyName(PROPERTY_NAME)))
+        {
+            properties->defineOptionalProperty<std::string>(
+                makePropertyName(PROPERTY_NAME),
+                "ObjectPoseObserver",
+                "Name of the object pose observer.");
+        }
+    }
+
+    void ObjectPoseClientPlugin::preOnInitComponent()
+    {
+        parent<Component>().usingProxyFromProperty(makePropertyName(PROPERTY_NAME));
+    }
+
+    void ObjectPoseClientPlugin::preOnConnectComponent()
+    {
+        parent<ObjectPoseClientPluginUser>().objectPoseObserver = createObjectPoseObserver();
+    }
+
+    objpose::ObjectPoseObserverInterfacePrx ObjectPoseClientPlugin::createObjectPoseObserver()
+    {
+        return parent<Component>().getTopicFromProperty<objpose::ObjectPoseObserverInterfacePrx>(makePropertyName(PROPERTY_NAME));
+    }
+
+}
+
+
+namespace armarx
+{
+
+    ObjectPoseClientPluginUser::ObjectPoseClientPluginUser()
+    {
+        addPlugin(plugin);
+    }
+
+    objpose::ObjectPoseObserverInterfacePrx ObjectPoseClientPluginUser::createObjectPoseObserver()
+    {
+        return plugin->createObjectPoseObserver();
+    }
+
+    objpose::ObjectPoseSeq ObjectPoseClientPluginUser::getObjectPoses()
+    {
+        if (!objectPoseObserver)
+        {
+            ARMARX_WARNING << "No object pose observer.";
+            return {};
+        }
+        return objpose::fromIce(objectPoseObserver->getObjectPoses());
+    }
+
+}

source/RobotAPI/components/ObjectPoseObserver/plugins/ObjectPoseClient.h

+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+
+#include <RobotAPI/interface/objectpose/ObjectPoseObserver.h>
+
+#include "../ObjectPose.h"
+
+
+namespace armarx::plugins
+{
+
+    class ObjectPoseClientPlugin : public ComponentPlugin
+    {
+    public:
+        using ComponentPlugin::ComponentPlugin;
+
+        void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+        void preOnInitComponent() override;
+        void preOnConnectComponent() override;
+
+        objpose::ObjectPoseObserverInterfacePrx createObjectPoseObserver();
+
+
+    private:
+
+        static constexpr const char* PROPERTY_NAME = "ObjectPoseTopicName";
+
+    };
+
+}
+
+
+namespace armarx
+{
+
+    /**
+     * @brief Provides an `objpose::ObjectPoseTopicPrx objectPoseTopic` as member variable.
+     */
+    class ObjectPoseClientPluginUser :
+        virtual public ManagedIceObject
+    {
+    public:
+
+        /// Allow usage like: ObjectPose::getObjects()
+        using ObjectPose = ObjectPoseClientPluginUser;
+
+        ObjectPoseClientPluginUser();
+
+        objpose::ObjectPoseObserverInterfacePrx createObjectPoseObserver();
+        objpose::ObjectPoseObserverInterfacePrx objectPoseObserver;
+
+
+        objpose::ObjectPoseSeq getObjectPoses();
+
+
+    private:
+
+        armarx::plugins::ObjectPoseClientPlugin* plugin = nullptr;
+
+    };
+}