Add RobotStateComponentPlugin::deactivate

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp

@@ -212,12 +212,12 @@ namespace armarx::plugins
 
     void RobotStateComponentPlugin::preOnInitComponent()
     {
-        if (!_robotStateComponent && _robotStateComponentName.empty())
+        if (!_deactivated && !_robotStateComponent && _robotStateComponentName.empty())
         {
             parent<Component>().getProperty(_robotStateComponentName, makePropertyName(_propertyName));
         }
 
-        if (!_robotStateComponent)
+        if (!_deactivated && !_robotStateComponent)
         {
             parent<Component>().usingProxy(_robotStateComponentName);
         }
@@ -225,11 +225,14 @@ namespace armarx::plugins
 
     void RobotStateComponentPlugin::preOnConnectComponent()
     {
-        if (!_robotStateComponent)
+        if (!_deactivated && !_robotStateComponent)
         {
             parent<Component>().getProxy(_robotStateComponent, _robotStateComponentName);
         }
-        _nameHelper = std::make_shared<RobotNameHelper>(_robotStateComponent->getRobotInfo());
+        if (!_deactivated)
+        {
+            _nameHelper = std::make_shared<RobotNameHelper>(_robotStateComponent->getRobotInfo());
+        }
     }
 
     void RobotStateComponentPlugin::postOnDisconnectComponent()
@@ -274,6 +277,11 @@ namespace armarx::plugins
         return _robotStateComponentName;
     }
 
+    void RobotStateComponentPlugin::deactivate()
+    {
+        _deactivated = true;
+    }
+
     Eigen::Matrix4f RobotStateComponentPlugin::transformFromTo(
         const std::string& from,
         const std::string& to,

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h

@@ -57,6 +57,7 @@ namespace armarx::plugins
         void setRobotStateComponentName(const std::string& name);
         void setRobotStateComponent(const RobotStateComponentInterfacePrx& rsc);
         const std::string& getRobotStateComponentName() const;
+        void deactivate();
         //get / add
     public:
         bool hasRobot(const std::string& id) const;
@@ -153,6 +154,7 @@ namespace armarx::plugins
         mutable std::recursive_mutex     _robotsMutex;
         std::map<std::string, RobotData> _robots;
         RobotNameHelperPtr               _nameHelper;
+        bool                             _deactivated = false;
     };
 }