diff --git a/source/RobotAPI/components/units/BusInspectionUnitObserver.cpp b/source/RobotAPI/components/units/BusInspectionUnitObserver.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8cce4c9b8a223af9502df2808ffbd914d381fc4c
--- /dev/null
+++ b/source/RobotAPI/components/units/BusInspectionUnitObserver.cpp
@@ -0,0 +1,121 @@
+/*
+* 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 ArmarX::
+* @author Peter Kaiser (peter dot kaiser at kit dot edu)
+* @date 2015
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+* GNU General Public License
+*/
+
+#include "BusInspectionUnitObserver.h"
+
+#include <ArmarXCore/observers/checks/ConditionCheckUpdated.h>
+#include <ArmarXCore/observers/checks/ConditionCheckEquals.h>
+#include <ArmarXCore/observers/checks/ConditionCheckInRange.h>
+#include <ArmarXCore/observers/checks/ConditionCheckLarger.h>
+#include <ArmarXCore/observers/checks/ConditionCheckSmaller.h>
+#include <ArmarXCore/observers/checks/ConditionCheckEqualsWithTolerance.h>
+#include <RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h>
+#include <RobotAPI/libraries/core/observerfilters/OffsetFilter.h>
+#include <ArmarXCore/observers/variant/DatafieldRef.h>
+
+#include <RobotAPI/libraries/core/RobotAPIObjectFactories.h>
+
+using namespace armarx;
+
+BusInspectionUnitObserver::BusInspectionUnitObserver()
+{
+}
+
+void BusInspectionUnitObserver::setTopicName(std::string topicName)
+{
+ this->topicName = topicName;
+}
+
+void BusInspectionUnitObserver::onInitObserver()
+{
+ if (topicName.empty())
+ {
+ usingTopic(getProperty<std::string>("BusInspectionUnitTopicName").getValue());
+ ARMARX_INFO << "Using topic " << getProperty<std::string>("BusInspectionUnitTopicName").getValue();
+ }
+ else
+ {
+ usingTopic(topicName);
+ ARMARX_INFO << "Using topic " << topicName;
+ }
+}
+
+void BusInspectionUnitObserver::onConnectObserver()
+{
+}
+
+PropertyDefinitionsPtr BusInspectionUnitObserver::createPropertyDefinitions()
+{
+ return PropertyDefinitionsPtr(new BusInspectionUnitObserverPropertyDefinitions(getConfigIdentifier()));
+}
+
+void BusInspectionUnitObserver::reportCycleTimeStatistics(int averageCycleTime, int minCycleTime, int maxCycleTime, const Ice::Current&)
+{
+ ScopedLock lock(dataMutex);
+
+ try
+ {
+ std::string channelName = "HALCycleTimes";
+
+ DataFieldIdentifierPtr id_avg = new DataFieldIdentifier(getName(), channelName, "Average HAL Cycle");
+ if (!existsChannel(id_avg->channelName))
+ {
+ offerChannel(id_avg->channelName, "HAL Cycle times");
+ }
+
+ if (!existsDataField(id_avg->channelName, id_avg->datafieldName))
+ {
+ offerDataFieldWithDefault(id_avg->channelName, id_avg->datafieldName, Variant(averageCycleTime), "Average HAL cycle time");
+ }
+ else
+ {
+ setDataField(id_avg->channelName, id_avg->datafieldName, Variant(averageCycleTime));
+ }
+
+ DataFieldIdentifierPtr id_min = new DataFieldIdentifier(getName(), channelName, "Minimum HAL Cycle");
+ if (!existsDataField(id_min->channelName, id_min->datafieldName))
+ {
+ offerDataFieldWithDefault(id_min->channelName, id_min->datafieldName, Variant(minCycleTime), "Minimum HAL cycle time");
+ }
+ else
+ {
+ setDataField(id_min->channelName, id_min->datafieldName, Variant(minCycleTime));
+ }
+
+ DataFieldIdentifierPtr id_max = new DataFieldIdentifier(getName(), channelName, "Maximum HAL Cycle");
+ if (!existsDataField(id_max->channelName, id_max->datafieldName))
+ {
+ offerDataFieldWithDefault(id_max->channelName, id_max->datafieldName, Variant(maxCycleTime), "Maximum HAL cycle time");
+ }
+ else
+ {
+ setDataField(id_max->channelName, id_max->datafieldName, Variant(maxCycleTime));
+ }
+
+ updateChannel(channelName);
+ }
+ catch (std::exception& e)
+ {
+ ARMARX_ERROR << "Reporting HAL cycle time failed! ";
+ handleExceptions();
+ }
+}
diff --git a/source/RobotAPI/components/units/BusInspectionUnitObserver.h b/source/RobotAPI/components/units/BusInspectionUnitObserver.h
new file mode 100644
index 0000000000000000000000000000000000000000..5002dcddd02eadb4f2098a470c27dc4c68bb70fe
--- /dev/null
+++ b/source/RobotAPI/components/units/BusInspectionUnitObserver.h
@@ -0,0 +1,75 @@
+/*
+* 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 ArmarX::
+* @author Peter Kaiser (peter dot kaiser at kit dot edu)
+* @date 2015
+* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+* GNU General Public License
+*/
+
+#ifndef _ARMARX_ROBOTAPI_BUSINSPECTIONUNITOBSERVER_H
+#define _ARMARX_ROBOTAPI_BUSINSPECTIONUNITOBSERVER_H
+
+#include <RobotAPI/interface/hardware/BusInspectionInterface.h>
+#include <ArmarXCore/observers/Observer.h>
+
+namespace armarx
+{
+ /**
+ * \class ForceTorqueObserverPropertyDefinitions
+ * \brief
+ */
+ class BusInspectionUnitObserverPropertyDefinitions:
+ public ComponentPropertyDefinitions
+ {
+ public:
+ BusInspectionUnitObserverPropertyDefinitions(std::string prefix):
+ ComponentPropertyDefinitions(prefix)
+ {
+ defineOptionalProperty<std::string>("BusInspectionUnitTopicName", "HALCycleTimes", "Name of the BusInspectionUnit Topic");
+ }
+ };
+
+ class BusInspectionUnitObserver :
+ virtual public Observer,
+ virtual public BusInspectionUnitObserverInterface
+ {
+ public:
+ BusInspectionUnitObserver();
+
+ void setTopicName(std::string topicName);
+
+ virtual std::string getDefaultName() const
+ {
+ return "BusInspectionUnitObserver";
+ }
+ void onInitObserver();
+ void onConnectObserver();
+
+ virtual void reportCycleTimeStatistics(int averageCycleTime, int minCycleTime, int maxCycleTime, const Ice::Current&);
+
+ /**
+ * @see PropertyUser::createPropertyDefinitions()
+ */
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+ private:
+ armarx::Mutex dataMutex;
+ std::string topicName;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/components/units/CMakeLists.txt b/source/RobotAPI/components/units/CMakeLists.txt
index 88a819376ebf0782b936810614319d8adef17994..451bf415e5348eb57981f88ee3aa3488facbb233 100644
--- a/source/RobotAPI/components/units/CMakeLists.txt
+++ b/source/RobotAPI/components/units/CMakeLists.txt
@@ -38,6 +38,7 @@ set(LIB_HEADERS
HandUnit.h
HandUnitSimulation.h
BusInspectionUnit.h
+ BusInspectionUnitObserver.h
KinematicUnit.h
KinematicUnitSimulation.h
PlatformUnit.h
@@ -63,6 +64,7 @@ set(LIB_FILES
HandUnit.cpp
HandUnitSimulation.cpp
BusInspectionUnit.cpp
+ BusInspectionUnitObserver.cpp
KinematicUnit.cpp
KinematicUnitSimulation.cpp
PlatformUnit.cpp
diff --git a/source/RobotAPI/interface/hardware/BusInspectionInterface.ice b/source/RobotAPI/interface/hardware/BusInspectionInterface.ice
index e479ca292ca75fba67dc2633402200e3c5188782..3def44040c467eb3fe8a3bff5f82cd5df0a3b065 100644
--- a/source/RobotAPI/interface/hardware/BusInspectionInterface.ice
+++ b/source/RobotAPI/interface/hardware/BusInspectionInterface.ice
@@ -28,6 +28,7 @@
#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/observers/ObserverInterface.ice>
module armarx
{
@@ -46,7 +47,6 @@ module armarx
string commandName;
};
-
struct DeviceStatus
{
OperationStatus operation;
@@ -101,6 +101,11 @@ module armarx
*/
void reportCycleTimeStatistics(int averageCycleTime, int minCycleTime, int maxCycleTime);
};
+
+ interface BusInspectionUnitObserverInterface extends ObserverInterface, BusInspectionListener
+ {
+ };
+
};
#endif