diff --git a/interface/slice/units/HapticUnit.ice b/interface/slice/units/HapticUnit.ice
new file mode 100644
index 0000000000000000000000000000000000000000..51be7139e96ae67cf2b48bd62d14094a4d851967
--- /dev/null
+++ b/interface/slice/units/HapticUnit.ice
@@ -0,0 +1,52 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * 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 Lesser 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 RobotAPI
+ * @author Peter Kaiser <peter dot kaiser at kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_ROBOTAPI_UNITS_HAPTIC_SLICE_
+#define _ARMARX_ROBOTAPI_UNITS_HAPTIC_SLICE_
+
+#include <units/UnitInterface.ice>
+#include <core/UserException.ice>
+#include <core/BasicTypes.ice>
+#include <observers/VariantBase.ice>
+#include <observers/Matrix.ice>
+#include <observers/ObserverInterface.ice>
+#include <robotstate/RobotState.ice>
+
+module armarx
+{
+ interface HapticUnitInterface extends armarx::SensorActorUnitInterface
+ {
+ };
+
+ interface HapticUnitListener
+ {
+ void reportSensorValues(string type, MatrixFloatBase values);
+ };
+
+ interface HapticUnitObserverInterface extends ObserverInterface, HapticUnitListener
+ {
+ };
+
+};
+
+#endif
diff --git a/source/RobotAPI/units/CMakeLists.txt b/source/RobotAPI/units/CMakeLists.txt
index 65eae2401682f6ffd203f5214b1289e3bad5ef9b..0f515c7ed32893f4d69c109fb63482cd12702ed4 100644
--- a/source/RobotAPI/units/CMakeLists.txt
+++ b/source/RobotAPI/units/CMakeLists.txt
@@ -22,6 +22,8 @@ set(LIBS RobotAPIInterfaces RobotAPICore ArmarXInterfaces ArmarXCore ArmarXCoreO
set(LIB_HEADERS
ForceTorqueObserver.h
ForceTorqueUnit.h
+ HapticObserver.h
+ HapticUnit.h
TCPControlUnit.h
TCPControlUnitObserver.h
)
@@ -29,6 +31,8 @@ set(LIB_HEADERS
set(LIB_FILES
ForceTorqueObserver.cpp
ForceTorqueUnit.cpp
+ HapticObserver.cpp
+ HapticObserver.h
TCPControlUnit.cpp
TCPControlUnitObserver.cpp
)
diff --git a/source/RobotAPI/units/HapticObserver.cpp b/source/RobotAPI/units/HapticObserver.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ca002cd83ceec4cf865dfcdf8a1e1c4d89107d77
--- /dev/null
+++ b/source/RobotAPI/units/HapticObserver.cpp
@@ -0,0 +1,63 @@
+#include "HapticObserver.h"
+
+#include <Core/observers/checks/ConditionCheckUpdated.h>
+#include <Core/observers/checks/ConditionCheckEquals.h>
+#include <Core/observers/checks/ConditionCheckInRange.h>
+#include <Core/observers/checks/ConditionCheckLarger.h>
+#include <Core/observers/checks/ConditionCheckSmaller.h>
+#include <Core/robotstate/remote/checks/ConditionCheckMagnitudeChecks.h>
+
+#include <Core/robotstate/remote/RobotStateObjectFactories.h>
+
+using namespace armarx;
+
+HapticObserver::HapticObserver()
+{
+}
+
+void HapticObserver::setTopicName(std::string topicName)
+{
+ this->topicName = topicName;
+}
+
+void HapticObserver::onInitObserver()
+{
+ if(topicName.empty())
+ usingTopic(getProperty<std::string>("HapticTopicName").getValue());
+ else
+ usingTopic(topicName);
+
+ // register all checks
+ offerConditionCheck("updated", new ConditionCheckUpdated());
+ offerConditionCheck("larger", new ConditionCheckLarger());
+ offerConditionCheck("equals", new ConditionCheckEquals());
+ offerConditionCheck("smaller", new ConditionCheckSmaller());
+// offerConditionCheck("magnitudeinrange", new ConditionCheckInRange());
+ offerConditionCheck("magnitudelarger", new ConditionCheckMagnitudeLarger());
+// offerConditionCheck("magnitudesmaller", new ConditionCheckSmaller());
+
+ // register all channels
+// offerChannel(FORCETORQUEVECTORS,"Force and Torque vectors on specific parts of the robot.");
+
+// offerChannel(RAWFORCE,"Forces on specific parts of the robot.");
+// offerChannel(OFFSETFORCE,"Force Torques of specific parts of the robot with an offset.");
+// offerChannel(FILTEREDFORCE,"Gaussian filtered force torques of specific parts of the robot.");
+
+// offerChannel(RAWTORQUE,"Torques on specific parts of the robot.");
+
+}
+
+void HapticObserver::onConnectObserver()
+{
+}
+
+void HapticObserver::reportSensorValues(const std::string &type, const MatrixFloat &values, const Ice::Current &)
+{
+ // TODO
+}
+
+PropertyDefinitionsPtr HapticObserver::createPropertyDefinitions()
+{
+ return PropertyDefinitionsPtr(new HapticObserverPropertyDefinitions(
+ getConfigIdentifier()));
+}
diff --git a/source/RobotAPI/units/HapticObserver.h b/source/RobotAPI/units/HapticObserver.h
new file mode 100644
index 0000000000000000000000000000000000000000..20a43213bcde58ce5e76dd3c8dad9d8afa7c5a90
--- /dev/null
+++ b/source/RobotAPI/units/HapticObserver.h
@@ -0,0 +1,72 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * 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 Lesser 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 ArmarXCore::units
+ * @author Peter Kaiser <peter dot kaiser at kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_ROBOTAPI_HAPTIC_OBSERVER_H
+#define _ARMARX_ROBOTAPI_HAPTIC_OBSERVER_H
+
+#include <RobotAPI/interface/units/HapticUnit.h>
+#include <Core/observers/Observer.h>
+#include <Core/observers/variant/MatrixVariant.h>
+
+namespace armarx
+{
+
+ class HapticObserverPropertyDefinitions:
+ public ComponentPropertyDefinitions
+ {
+ public:
+ HapticObserverPropertyDefinitions(std::string prefix):
+ ComponentPropertyDefinitions(prefix)
+ {
+ defineRequiredProperty<std::string>("HapticTopicName", "Name of the HapticUnit Topic");
+ }
+ };
+
+ class HapticObserver :
+ virtual public Observer,
+ virtual public HapticUnitObserverInterface
+ {
+ public:
+ HapticObserver();
+
+ void setTopicName(std::string topicName);
+
+ // framework hooks
+ virtual std::string getDefaultName() const { return "HapticUnitObserver"; }
+ void onInitObserver();
+ void onConnectObserver();
+
+ void reportSensorValues(const std::string &type, const ::armarx::MatrixFloat &values, const ::Ice::Current& = ::Ice::Current());
+
+ /**
+ * @see PropertyUser::createPropertyDefinitions()
+ */
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+ private:
+ armarx::Mutex dataMutex;
+ std::string topicName;
+
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/units/HapticUnit.cpp b/source/RobotAPI/units/HapticUnit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..08f16320b459e4cefb06802c3b5703f8562d0a47
--- /dev/null
+++ b/source/RobotAPI/units/HapticUnit.cpp
@@ -0,0 +1,49 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * 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 Lesser 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 ArmarXCore::units
+ * @author Peter Kaiser <peter dot kaiser at kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "HapticUnit.h"
+
+using namespace armarx;
+
+void HapticUnit::onInitComponent()
+{
+ listenerName = "HapticValues";
+ offeringTopic(listenerName);
+ onInitForceTorqueUnit();
+}
+
+void HapticUnit::onConnectComponent()
+{
+ listenerPrx = getTopic<HapticUnitListenerPrx>(listenerName);
+ onStartHapticUnit();
+}
+
+void HapticUnit::onExitComponent()
+{
+ onExitHapticUnit();
+}
+
+PropertyDefinitionsPtr HapticUnit::createPropertyDefinitions()
+{
+ return PropertyDefinitionsPtr(new HapticUnitPropertyDefinitions(getConfigIdentifier()));
+}
diff --git a/source/RobotAPI/units/HapticUnit.h b/source/RobotAPI/units/HapticUnit.h
new file mode 100644
index 0000000000000000000000000000000000000000..32c72cb14f7eb2a3d8ef90643842c87f04641487
--- /dev/null
+++ b/source/RobotAPI/units/HapticUnit.h
@@ -0,0 +1,71 @@
+/**
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * 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 Lesser 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 ArmarXCore::units
+ * @author Peter Kaiser <peter dot kaiser at kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_COMPONENT_HAPTIC_UNIT_H
+#define _ARMARX_COMPONENT_HAPTIC_UNIT_H
+
+#include <Core/core/Component.h>
+#include <Core/core/application/properties/Properties.h>
+#include <Core/core/system/ImportExportComponent.h>
+#include "Core/units/SensorActorUnit.h"
+
+#include <RobotAPI/interface/units/HapticUnit.h>
+
+#include <string>
+
+namespace armarx
+{
+ class HapticUnitPropertyDefinitions : public ComponentPropertyDefinitions
+ {
+ public:
+ HapticUnitPropertyDefinitions(std::string prefix) :
+ ComponentPropertyDefinitions(prefix)
+ {
+ // No required properties
+ }
+ };
+
+ class HapticUnit :
+ virtual public HapticUnitInterface,
+ virtual public SensorActorUnit
+ {
+ public:
+ virtual std::string getDefaultName() const { return "HapticUnit"; }
+
+ virtual void onInitComponent();
+ virtual void onConnectComponent();
+ virtual void onExitComponent();
+
+ virtual void onInitHapticUnit() = 0;
+ virtual void onStartHapticUnit() = 0;
+ virtual void onExitHapticUnit() = 0;
+
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+ protected:
+ HapticUnitListenerPrx listenerPrx;
+ std::string listenerName;
+ };
+}
+
+#endif