diff --git a/source/RobotAPI/components/units/CMakeLists.txt b/source/RobotAPI/components/units/CMakeLists.txt
index 94ed1485e1eabb750ad5ae80748008faea129bc6..90567cf96caddb0d174100b504237265888f06a2 100644
--- a/source/RobotAPI/components/units/CMakeLists.txt
+++ b/source/RobotAPI/components/units/CMakeLists.txt
@@ -74,3 +74,5 @@ set(LIB_FILES
)
armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
+add_subdirectory(relays)
diff --git a/source/RobotAPI/components/units/relays/CMakeLists.txt b/source/RobotAPI/components/units/relays/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..26d539f34c8e5624a614fa891b8f7a19a04f01fd
--- /dev/null
+++ b/source/RobotAPI/components/units/relays/CMakeLists.txt
@@ -0,0 +1,16 @@
+set(LIB_NAME RobotAPIUnitListenerRelays)
+armarx_set_target("RobotAPI Unit Listener Relays Library: ${LIB_NAME}")
+
+set(LIBS ArmarXCore RobotAPIInterfaces)
+
+set(LIB_HEADERS
+ KinematicUnitListenerRelay.h
+ InertialMeasurementUnitListenerRelay.h
+ ForceTorqueUnitListenerRelay.h
+ RobotStateListenerRelay.h
+)
+
+set(LIB_FILES syntaxcheck.cpp)
+
+armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+
diff --git a/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h b/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h
new file mode 100644
index 0000000000000000000000000000000000000000..581a1d175f57226d5d93dfc76f18c4bed13cc9e1
--- /dev/null
+++ b/source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h
@@ -0,0 +1,56 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 VisionX::ArmarXObjects::ForceTorqueUnitListenerRelay
+ * @author Raphael Grimm ( ufdrv at student dot kit dot edu )
+ * @date 2016
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/util/noop.h>
+#include <RobotAPI/interface/units/ForceTorqueUnit.h>
+
+namespace armarx
+{
+ class ForceTorqueUnitListenerRelay :
+ virtual public ManagedIceObject,
+ virtual public ForceTorqueUnitListener
+ {
+ public:
+ using CallbackFunctionSensorValues = std::function<void(const std::string&, const FramedDirectionBasePtr&, const FramedDirectionBasePtr&)>;
+
+ // ForceTorqueUnitListener interface
+ virtual void reportSensorValues(const std::string& sensorNodeName, const FramedDirectionBasePtr& forces, const FramedDirectionBasePtr& torques, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportSensorValues(sensorNodeName, forces, torques);
+ }
+ protected:
+ // ManagedIceObject interface
+ virtual void onInitComponent()
+ {
+ usingTopic(topicName);
+ }
+ virtual void onConnectComponent() {}
+ virtual std::string getDefaultName() const
+ {
+ return "ForceTorqueUnitListenerRelay";
+ }
+ public:
+ std::string topicName;
+ CallbackFunctionSensorValues callbackReportSensorValues {noop<const std::string&, const FramedDirectionBasePtr&, const FramedDirectionBasePtr&>};
+ };
+ using ForceTorqueUnitListenerRelayPtr = IceInternal::Handle<ForceTorqueUnitListenerRelay>;
+}
diff --git a/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h b/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h
new file mode 100644
index 0000000000000000000000000000000000000000..69e2b0c1bab1d394517684a60ab328d3a95ec55d
--- /dev/null
+++ b/source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h
@@ -0,0 +1,56 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 VisionX::ArmarXObjects::InertialMeasurementUnitListenerRelay
+ * @author Raphael Grimm ( ufdrv at student dot kit dot edu )
+ * @date 2016
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/util/noop.h>
+#include <RobotAPI/interface/units/InertialMeasurementUnit.h>
+
+namespace armarx
+{
+ class InertialMeasurementUnitListenerRelay :
+ virtual public ManagedIceObject,
+ virtual public InertialMeasurementUnitListener
+ {
+ public:
+ using CallbackFunctionSensorValues = std::function<void(const std::string&, const std::string&, const IMUData&, const TimestampBasePtr&)>;
+
+ // InertialMeasurementUnitListener interface
+ virtual void reportSensorValues(const std::string& device, const std::string& name, const IMUData& values, const TimestampBasePtr& timestamp, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportSensorValues(device, name, values, timestamp);
+ }
+ protected:
+ // ManagedIceObject interface
+ virtual void onInitComponent()
+ {
+ usingTopic(topicName);
+ }
+ virtual void onConnectComponent() {}
+ virtual std::string getDefaultName() const
+ {
+ return "InertialMeasurementUnitListenerRelay";
+ }
+ public:
+ std::string topicName;
+ CallbackFunctionSensorValues callbackReportSensorValues {noop<const std::string&, const std::string&, const IMUData&, const TimestampBasePtr&>};
+ };
+ using InertialMeasurementUnitListenerRelayPtr = IceInternal::Handle<InertialMeasurementUnitListenerRelay>;
+}
diff --git a/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h b/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h
new file mode 100644
index 0000000000000000000000000000000000000000..cbf2d2e2bab5bdc57acadcbb9b78f4fbcca806cb
--- /dev/null
+++ b/source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h
@@ -0,0 +1,94 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 VisionX::ArmarXObjects::KinematicUnitListenerRelay
+ * @author Raphael Grimm ( ufdrv at student dot kit dot edu )
+ * @date 2016
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/util/noop.h>
+#include <RobotAPI/interface/units/KinematicUnitInterface.h>
+
+namespace armarx
+{
+ class KinematicUnitListenerRelay :
+ virtual public ManagedIceObject,
+ virtual public KinematicUnitListener
+ {
+ public:
+ using CallbackFunctionModes = std::function<void(const NameControlModeMap&, Ice::Long, bool)>;
+ using CallbackFunctionState = std::function<void(const NameStatusMap&, Ice::Long, bool)>;
+ using CallbackFunctionValue = std::function<void(const NameValueMap&, Ice::Long, bool)>;
+
+ // KinematicUnitListener interface
+ virtual void reportControlModeChanged(const NameControlModeMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportControlModeChanged(map, time, changes);
+ }
+ virtual void reportJointAngles(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointAngles(map, time, changes);
+ }
+ virtual void reportJointVelocities(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointVelocities(map, time, changes);
+ }
+ virtual void reportJointTorques(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointTorques(map, time, changes);
+ }
+ virtual void reportJointAccelerations(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointAccelerations(map, time, changes);
+ }
+ virtual void reportJointCurrents(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointCurrents(map, time, changes);
+ }
+ virtual void reportJointMotorTemperatures(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointMotorTemperatures(map, time, changes);
+ }
+ virtual void reportJointStatuses(const NameStatusMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointStatuses(map, time, changes);
+ }
+
+ protected:
+ // ManagedIceObject interface
+ virtual void onInitComponent()
+ {
+ usingTopic(topicName);
+ }
+ virtual void onConnectComponent() {}
+ virtual std::string getDefaultName() const
+ {
+ return "KinematicUnitListenerRelay";
+ }
+ public:
+ std::string topicName;
+ CallbackFunctionModes callbackReportControlModeChanged {noop<const NameControlModeMap&, Ice::Long, bool>};
+ CallbackFunctionValue callbackReportJointAngles {noop<const NameValueMap&, Ice::Long, bool>};
+ CallbackFunctionValue callbackReportJointVelocities {noop<const NameValueMap&, Ice::Long, bool>};
+ CallbackFunctionValue callbackReportJointTorques {noop<const NameValueMap&, Ice::Long, bool>};
+ CallbackFunctionValue callbackReportJointAccelerations {noop<const NameValueMap&, Ice::Long, bool>};
+ CallbackFunctionValue callbackReportJointCurrents {noop<const NameValueMap&, Ice::Long, bool>};
+ CallbackFunctionValue callbackReportJointMotorTemperatures {noop<const NameValueMap&, Ice::Long, bool>};
+ CallbackFunctionState callbackReportJointStatuses {noop<const NameStatusMap&, Ice::Long, bool>};
+ };
+ using KinematicUnitListenerRelayPtr = IceInternal::Handle<KinematicUnitListenerRelay>;
+}
diff --git a/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h b/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h
new file mode 100644
index 0000000000000000000000000000000000000000..839160995c58304031c199884a0e7fbac3517661
--- /dev/null
+++ b/source/RobotAPI/components/units/relays/RobotStateListenerRelay.h
@@ -0,0 +1,61 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * 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 VisionX::ArmarXObjects::KinematicUnitListenerRelay
+ * @author Raphael Grimm ( ufdrv at student dot kit dot edu )
+ * @date 2016
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/util/noop.h>
+#include <RobotAPI/interface/core/RobotState.h>
+
+namespace armarx
+{
+ class RobotStateListenerRelay :
+ virtual public ManagedIceObject,
+ virtual public RobotStateListenerInterface
+ {
+ public:
+ using CallbackFunctionValue = std::function<void(const NameValueMap& , Ice::Long, bool)>;
+ using CallbackFunctionPose = std::function<void(const FramedPoseBasePtr &, Ice::Long, bool)>;
+
+ virtual void reportJointValues(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportJointValues(map, time, changes);
+ }
+ void reportGlobalRobotRootPose(const FramedPoseBasePtr & pose, Ice::Long time, bool changes, const Ice::Current& = GlobalIceCurrent)
+ {
+ callbackReportGlobalRobotRootPose(pose, time, changes);
+ }
+ protected:
+ // ManagedIceObject interface
+ virtual void onInitComponent()
+ {
+ usingTopic(topicName);
+ }
+ virtual void onConnectComponent() {}
+ virtual std::string getDefaultName() const
+ {
+ return "RobotStateListener";
+ }
+ public:
+ std::string topicName;
+ CallbackFunctionValue callbackReportJointValues {noop<const NameValueMap& , Ice::Long, bool>};
+ CallbackFunctionPose callbackReportGlobalRobotRootPose {noop<const FramedPoseBasePtr &, Ice::Long, bool>};
+ };
+ using RobotStateListenerRelayPtr = IceInternal::Handle<RobotStateListenerRelay>;
+}
diff --git a/source/RobotAPI/components/units/relays/syntaxcheck.cpp b/source/RobotAPI/components/units/relays/syntaxcheck.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..82b6a31b758ca9668e4219e346f9ae3be5e4a477
--- /dev/null
+++ b/source/RobotAPI/components/units/relays/syntaxcheck.cpp
@@ -0,0 +1,3 @@
+#include "KinematicUnitListenerRelay.h"
+#include "InertialMeasurementUnitListenerRelay.h"
+#include "ForceTorqueUnitListenerRelay.h"