diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
index 0dfbeb0705eb580bedcdcf117490c8253a368777..5113961eeebb95c1af593714fbb1eca93ea84909 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
@@ -54,7 +54,7 @@ namespace armarx
if (enableHeartBeat)
{
- this->heartbeat->signUp(armarx::core::time::Duration::MilliSeconds(1000),
+ this->heartbeatPlugin->signUp(armarx::core::time::Duration::MilliSeconds(1000),
armarx::core::time::Duration::MilliSeconds(1500),
{"Gamepad"},
"The GamepadControlUnit");
@@ -193,9 +193,14 @@ namespace armarx
{
auto now = armarx::core::time::dto::DateTime();
armarx::core::time::toIce(now, armarx::core::time::DateTime::Now());
- heartbeat->heartbeat();
+ heartbeatPlugin->heartbeat();
}
//ARMARX_INFO << "sending targets" << data.leftStickX* scaleX << " " << data.leftStickY* scaleY << " " << data.rightStickX* scaleRotation;
}
+
+ GamepadControlUnit::GamepadControlUnit()
+ {
+ addPlugin(heartbeatPlugin);
+ }
} // namespace armarx
diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
index ee35989d9ab3c4532e4c2aa920695853d6b8e32f..9438f305fe6a96648eb4d6011112ea637a245369 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
@@ -70,10 +70,11 @@ namespace armarx
*/
class GamepadControlUnit :
virtual public armarx::Component,
- virtual public armarx::HeartbeatComponentPluginUser,
virtual public GamepadUnitListener
{
public:
+ GamepadControlUnit();
+
/**
* @see armarx::ManagedIceObject::getDefaultName()
*/
@@ -111,6 +112,8 @@ namespace armarx
private:
PlatformUnitInterfacePrx platformUnitPrx;
+ plugins::HeartbeatComponentPlugin* heartbeatPlugin = nullptr;
+
bool enableHeartBeat = false;
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
index add212dcb887d2fa1f57f688c1e2cc5fff705ddf..0d67c40a799d88c4b5471e6ea7a99004b40a398b 100644
--- a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
@@ -33,6 +33,12 @@
using namespace armarx;
+HokuyoLaserUnit::HokuyoLaserUnit()
+{
+ addPlugin(heartbeat);
+}
+
+
void
HokuyoLaserUnit::onInitComponent()
{
@@ -84,6 +90,8 @@ HokuyoLaserUnit::onInitComponent()
void
HokuyoLaserUnit::onConnectComponent()
{
+ ARMARX_TRACE;
+
topic = getTopic<LaserScannerUnitListenerPrx>(topicName);
debugObserver = getTopic<DebugObserverInterfacePrx>(
getProperty<std::string>("DebugObserverName").getValue());
@@ -105,11 +113,11 @@ HokuyoLaserUnit::onConnectComponent()
continue;
}
+ ARMARX_CHECK_NOT_NULL(heartbeat);
heartbeat->signUp(device.componentName + "_" + device.ip,
armarx::core::time::Duration::MilliSeconds(500),
armarx::core::time::Duration::MilliSeconds(800),
- true,
- {"LaserScanner"},
+ {"LaserScanner", "Localization"},
"HokuyoLaserScanDevice");
LaserScannerInfo info;
@@ -219,6 +227,7 @@ HokuyoLaserScanDevice::reconnect()
void
HokuyoLaserScanDevice::run()
{
+ ARMARX_TRACE;
while (!task->isStopped())
{
IceUtil::Time time_start = TimeUtil::GetTime();
@@ -273,7 +282,7 @@ HokuyoLaserScanDevice::run()
}
IceUtil::Time time_topicSensor = TimeUtil::GetTime();
- if (robotHealthPlugin)
+ if (robotHealthPlugin != nullptr)
{
robotHealthPlugin->heartbeatOnChannel(componentName + "_" + ip);
}
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
index 560a5dd1274d3e6a5b03e61474ba7c22c78bf579..0b8ad3985e9e3b1825054fe1339cb41a5c59f4cd 100644
--- a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
@@ -105,10 +105,11 @@ namespace armarx
*/
class HokuyoLaserUnit :
virtual public armarx::LaserScannerUnitInterface,
- virtual public armarx::HeartbeatComponentPluginUser,
virtual public armarx::SensorActorUnit
{
public:
+ HokuyoLaserUnit();
+
/**
* @see armarx::ManagedIceObject::getDefaultName()
*/
@@ -156,5 +157,7 @@ namespace armarx
std::vector<HokuyoLaserScanDevice> devices;
LaserScannerInfoSeq connectedDevices;
DebugObserverInterfacePrx debugObserver;
+
+ plugins::HeartbeatComponentPlugin* heartbeat = nullptr;
};
} // namespace armarx
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
index edcdb9966b0974d519616288d3801edec198f625..ccbe0fd978fcd6bbc91dc10ce0dd86d286b2e9dd 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
@@ -10,7 +10,7 @@
namespace armarx::plugins
{
void
- HeartbeatComponentPlugin::signUp(const std::vector<std::string> tags,
+ HeartbeatComponentPlugin::signUp(const std::vector<std::string>& tags,
const std::string& description)
{
RobotHealthHeartbeatArgs argsCopy = defaultHeartbeatArgs;
@@ -21,7 +21,7 @@ namespace armarx::plugins
void
HeartbeatComponentPlugin::signUp(const std::string& identifier,
- const std::vector<std::string> tags,
+ const std::vector<std::string>& tags,
const std::string& description)
{
RobotHealthHeartbeatArgs argsCopy = defaultHeartbeatArgs;
@@ -32,10 +32,10 @@ namespace armarx::plugins
}
void
- HeartbeatComponentPlugin::signUp(const std::string identifier,
+ HeartbeatComponentPlugin::signUp(const std::string& identifier,
const armarx::core::time::Duration& warning,
const armarx::core::time::Duration& error,
- const std::vector<std::string> tags,
+ const std::vector<std::string>& tags,
const std::string& description)
{
RobotHealthHeartbeatArgs argsCopy = defaultHeartbeatArgs;
@@ -44,13 +44,15 @@ namespace armarx::plugins
argsCopy.identifier = identifier;
toIce(argsCopy.maximumCycleTimeWarning, warning);
toIce(argsCopy.maximumCycleTimeError, error);
+
+ ARMARX_TRACE;
signUp(argsCopy);
}
void
HeartbeatComponentPlugin::signUp(const armarx::core::time::Duration& warning,
const armarx::core::time::Duration& error,
- const std::vector<std::string> tags,
+ const std::vector<std::string>& tags,
const std::string& description)
{
RobotHealthHeartbeatArgs argsCopy = defaultHeartbeatArgs;
@@ -65,15 +67,18 @@ namespace armarx::plugins
void
HeartbeatComponentPlugin::signUp(const RobotHealthHeartbeatArgs& args)
{
+ ARMARX_TRACE;
+ ARMARX_CHECK_NOT_NULL(rhprx);
+
if (args.identifier.empty())
{
RobotHealthHeartbeatArgs argsCopy = args;
argsCopy.identifier = componentName;
- p.rhprx->signUp(argsCopy);
+ rhprx->signUp(argsCopy);
}
else
{
- p.rhprx->signUp(args);
+ rhprx->signUp(args);
}
}
@@ -130,9 +135,10 @@ namespace armarx::plugins
}
void
- HeartbeatComponentPlugin::preOnConnectComponent()
+ HeartbeatComponentPlugin::postOnConnectComponent()
{
- topicName = p.rhprx->getTopicName();
+ ARMARX_CHECK_NOT_NULL(rhprx);
+ topicName = rhprx->getTopicName();
robotHealthTopic = parent<Component>().getTopic<RobotHealthInterfacePrx>(topicName);
}
@@ -142,7 +148,7 @@ namespace armarx::plugins
if (!properties->hasDefinition(makePropertyName(healthPropertyName)))
{
properties->component(
- p.rhprx, "RobotHealth", healthPropertyName, "Name of the robot health component.");
+ rhprx, "RobotHealth", healthPropertyName, "Name of the robot health component.");
}
if (not properties->hasDefinition(makePropertyName(maximumCycleTimeWarningMSPropertyName)))
@@ -161,11 +167,3 @@ namespace armarx::plugins
}
} // namespace armarx::plugins
-
-namespace armarx
-{
- HeartbeatComponentPluginUser::HeartbeatComponentPluginUser()
- {
- addPlugin(heartbeat);
- }
-} // namespace armarx
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h
index 0ed2c5be5700fae7344f7b2fe7cc31b405619d3a..db32aa161d9008a9aa330c32b2782e969a9db6e3 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h
@@ -38,14 +38,14 @@ namespace armarx::plugins
/**
* @brief register component to heartbeat
*/
- void signUp(const std::vector<std::string> aliases = {},
+ void signUp(const std::vector<std::string>& aliases = {},
const std::string& description = "");
/**
* @brief register component to heartbeat
*/
void signUp(const std::string& name,
- const std::vector<std::string> aliases = {},
+ const std::vector<std::string>& aliases = {},
const std::string& description = "");
/**
@@ -53,16 +53,16 @@ namespace armarx::plugins
*/
void signUp(const armarx::core::time::Duration& warning,
const armarx::core::time::Duration& error,
- const std::vector<std::string> aliases = {},
+ const std::vector<std::string>& aliases = {},
const std::string& description = "");
/**
* @brief register component to heartbeat
*/
- void signUp(const std::string componentName,
+ void signUp(const std::string& componentName,
const armarx::core::time::Duration& warning,
const armarx::core::time::Duration& error,
- const std::vector<std::string> aliases = {},
+ const std::vector<std::string>& aliases = {},
const std::string& description = "");
/**
@@ -88,16 +88,17 @@ namespace armarx::plugins
protected:
void preOnInitComponent() override;
void postOnInitComponent() override;
- void preOnConnectComponent() override;
+ // void preOnConnectComponent() override;
+ void postOnConnectComponent() override;
void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
- public:
+ private:
+ //! heartbeat topic name (outgoing)
RobotHealthInterfacePrx robotHealthTopic;
std::string topicName{"RobotHealthTopic"};
- private:
- //! heartbeat topic name (outgoing)
+ RobotHealthComponentInterfacePrx rhprx;
//! name of this component used as identifier for heartbeats
std::string componentName;
@@ -111,7 +112,6 @@ namespace armarx::plugins
struct Properties
{
- RobotHealthComponentInterfacePrx rhprx;
long maximumCycleTimeWarningMS = 50;
long maximumCycleTimeErrorMS = 100;
} p;
@@ -120,24 +120,3 @@ namespace armarx::plugins
RobotHealthHeartbeatArgs defaultHeartbeatArgs;
};
} // namespace armarx::plugins
-
-namespace armarx
-{
- /**
- * @brief Provides a ready-to-use ArViz client `arviz` as member variable.
- */
- class HeartbeatComponentPluginUser : virtual public ManagedIceObject
- {
- public:
- HeartbeatComponentPluginUser();
-
- RobotHealthInterfacePrx
- getHeartbeatTopic()
- {
- return heartbeat->robotHealthTopic;
- }
-
- protected:
- armarx::plugins::HeartbeatComponentPlugin* heartbeat = nullptr;
- };
-} // namespace armarx