From 4d9828b0302be8804414a9179bfcbb0d1b4ed290 Mon Sep 17 00:00:00 2001
From: Fabian Peller <fabian.peller-konrad@kit.edu>
Date: Sun, 14 May 2023 13:46:23 +0200
Subject: [PATCH] convenience methods to heartbeat component plugin
---
.../GamepadControlUnit/CMakeLists.txt | 2 +-
.../GamepadControlUnit/GamepadControlUnit.cpp | 229 +++++++++---------
.../HokuyoLaserUnit/HokuyoLaserUnit.cpp | 32 +--
.../drivers/HokuyoLaserUnit/HokuyoLaserUnit.h | 47 ++--
.../HeartbeatComponentPlugin.cpp | 94 ++++---
.../HeartbeatComponentPlugin.h | 55 ++++-
6 files changed, 264 insertions(+), 195 deletions(-)
diff --git a/source/RobotAPI/components/GamepadControlUnit/CMakeLists.txt b/source/RobotAPI/components/GamepadControlUnit/CMakeLists.txt
index c3b764a15..8154ff69a 100644
--- a/source/RobotAPI/components/GamepadControlUnit/CMakeLists.txt
+++ b/source/RobotAPI/components/GamepadControlUnit/CMakeLists.txt
@@ -1,6 +1,6 @@
armarx_component_set_name("GamepadControlUnit")
-set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore ArmarXCoreObservers RobotAPIInterfaces )
+set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore ArmarXCoreObservers RobotAPIComponentPlugins RobotAPIInterfaces )
set(SOURCES GamepadControlUnit.cpp)
set(HEADERS GamepadControlUnit.h)
diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
index 55c65ddae..ee2983e5a 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
@@ -22,17 +22,15 @@
#include "GamepadControlUnit.h"
-#include <ArmarXCore/observers/variant/TimestampVariant.h>
-
#include <ArmarXCore/core/time/DateTime.h>
#include <ArmarXCore/core/time/Duration.h>
#include <ArmarXCore/core/time/ice_conversions.h>
-
-
+#include <ArmarXCore/observers/variant/TimestampVariant.h>
namespace armarx
{
- void GamepadControlUnit::onInitComponent()
+ void
+ GamepadControlUnit::onInitComponent()
{
ARMARX_INFO << "oninit GamepadControlUnit";
usingProxy(getProperty<std::string>("PlatformUnitName").getValue());
@@ -43,78 +41,81 @@ namespace armarx
scaleY = getProperty<float>("ScaleY").getValue();
scaleRotation = getProperty<float>("ScaleAngle").getValue();
ARMARX_INFO << "oninit GamepadControlUnit end";
-
-
-
}
-
- void GamepadControlUnit::onConnectComponent()
+ void
+ GamepadControlUnit::onConnectComponent()
{
ARMARX_INFO << "onConnect GamepadControlUnit";
- platformUnitPrx = getProxy<PlatformUnitInterfacePrx>(getProperty<std::string>("PlatformUnitName").getValue());
+ platformUnitPrx = getProxy<PlatformUnitInterfacePrx>(
+ getProperty<std::string>("PlatformUnitName").getValue());
emergencyStop = getProxy<EmergencyStopMasterInterfacePrx>("EmergencyStopMaster");
- RobotHealthHeartbeatArgs args;
- args.componentName = getDefaultName();
-
- auto warningTime = armarx::core::time::Duration::MilliSeconds(1000);
- armarx::core::time::toIce(args.maximumCycleTimeWarning, warningTime);
- args.description = "The GamepadControlUnit";
- args.requiredByDefault = true;
- args.aliases = {"Gamepad"};
- this->heartbeat->signUp(args);
+ if (enableHeartBeat)
+ {
+ this->heartbeat->signUp(armarx::core::time::Duration::MilliSeconds(1000),
+ armarx::core::time::Duration::MilliSeconds(1500),
+ false,
+ {"Gamepad"},
+ "The GamepadControlUnit");
+ }
}
-
- void GamepadControlUnit::onDisconnectComponent()
+ void
+ GamepadControlUnit::onDisconnectComponent()
{
-
}
-
- void GamepadControlUnit::onExitComponent()
+ void
+ GamepadControlUnit::onExitComponent()
{
ARMARX_INFO << "exit GamepadControlUnit";
}
- armarx::PropertyDefinitionsPtr GamepadControlUnit::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr
+ GamepadControlUnit::createPropertyDefinitions()
{
- auto defs = armarx::PropertyDefinitionsPtr(new GamepadControlUnitPropertyDefinitions(
- getConfigIdentifier()));
- defs->topic(robotHealthTopic);
- defs->optional(enableHeartBeat, "EnableHeartBeat", "Flag to enable send a heart beat to the robot healh topic");
- return defs;
+ auto defs = armarx::PropertyDefinitionsPtr(
+ new GamepadControlUnitPropertyDefinitions(getConfigIdentifier()));
+ defs->optional(enableHeartBeat,
+ "EnableHeartBeat",
+ "Flag to enable send a heart beat to the robot healh topic");
+ return defs;
}
- void GamepadControlUnit::reportGamepadState(const std::string& device, const std::string& name, const GamepadData& data, const TimestampBasePtr& timestamp, const Ice::Current& c)
+ void
+ GamepadControlUnit::reportGamepadState(const std::string& device,
+ const std::string& name,
+ const GamepadData& data,
+ const TimestampBasePtr& timestamp,
+ const Ice::Current& c)
{
- // struct GamepadData {
- // float leftStickX;
- // float leftStickY;
- // float rightStickX;
- // float rightStickY;
- // float dPadX;
- // float dPadY;
- // float leftTrigger;
- // float rightTrigger;
- //
- // bool leftButton;
- // bool rightButton;
- // bool backButton;
- // bool startButton;
- // bool xButton;
- // bool yButton;
- // bool aButton;
- // bool bButton;
- // bool theMiddleButton;
- // bool leftStickButton;
- // bool rightStickButton;
- //
- // };
+ // struct GamepadData {
+ // float leftStickX;
+ // float leftStickY;
+ // float rightStickX;
+ // float rightStickY;
+ // float dPadX;
+ // float dPadY;
+ // float leftTrigger;
+ // float rightTrigger;
+ //
+ // bool leftButton;
+ // bool rightButton;
+ // bool backButton;
+ // bool startButton;
+ // bool xButton;
+ // bool yButton;
+ // bool aButton;
+ // bool bButton;
+ // bool theMiddleButton;
+ // bool leftStickButton;
+ // bool rightStickButton;
+ //
+ // };
if (data.leftTrigger > 0)
@@ -129,7 +130,9 @@ namespace armarx
//scales are for the robot axis
if (data.rightTrigger > 0)
{
- platformUnitPrx->move(data.leftStickY * scaleX, data. leftStickX * scaleY, data.rightStickX * scaleRotation);
+ platformUnitPrx->move(data.leftStickY * scaleX,
+ data.leftStickX * scaleY,
+ data.rightStickX * scaleRotation);
}
else
{
@@ -137,63 +140,63 @@ namespace armarx
}
- if (data.leftButton)
- {
-
- if(leftHandTime <= 0.0)
- {
- leftHandTime = IceUtil::Time::now().toMicroSeconds();
- }
- else if ((IceUtil::Time::now().toMicroSeconds() - leftHandTime) > 1000* 1000)
- {
-
- HandUnitInterfacePrx handUnit = getProxy<HandUnitInterfacePrx>("LeftHandUnit");
- if (handUnit)
- {
- std::string shapeName = (leftHandOpen) ? "Close" : "Open";
- handUnit->setShape(shapeName);
- leftHandOpen = !leftHandOpen;
- leftHandTime = 0.0;
- }
- }
- }
- else
- {
- leftHandTime = 0.0;
- }
-
- if(data.rightButton)
- {
-
- if(rightHandTime <= 0.0)
- {
- rightHandTime = IceUtil::Time::now().toMicroSeconds();
- }
- else if ((IceUtil::Time::now().toMicroSeconds() - rightHandTime) > 1000* 1000)
- {
- HandUnitInterfacePrx handUnit = getProxy<HandUnitInterfacePrx>("RightHandUnit");
- if (handUnit)
- {
- std::string shapeName = (rightHandOpen) ? "Close" : "Open";
- handUnit->setShape(shapeName);
- rightHandOpen = !rightHandOpen;
- rightHandTime = 0.0;
- }
- }
- }
- else
- {
- rightHandTime = 0.0;
- }
-
-
- if(enableHeartBeat)
+ if (data.leftButton)
+ {
+
+ if (leftHandTime <= 0.0)
+ {
+ leftHandTime = IceUtil::Time::now().toMicroSeconds();
+ }
+ else if ((IceUtil::Time::now().toMicroSeconds() - leftHandTime) > 1000 * 1000)
+ {
+
+ HandUnitInterfacePrx handUnit = getProxy<HandUnitInterfacePrx>("LeftHandUnit");
+ if (handUnit)
+ {
+ std::string shapeName = (leftHandOpen) ? "Close" : "Open";
+ handUnit->setShape(shapeName);
+ leftHandOpen = !leftHandOpen;
+ leftHandTime = 0.0;
+ }
+ }
+ }
+ else
+ {
+ leftHandTime = 0.0;
+ }
+
+ if (data.rightButton)
+ {
+
+ if (rightHandTime <= 0.0)
+ {
+ rightHandTime = IceUtil::Time::now().toMicroSeconds();
+ }
+ else if ((IceUtil::Time::now().toMicroSeconds() - rightHandTime) > 1000 * 1000)
+ {
+ HandUnitInterfacePrx handUnit = getProxy<HandUnitInterfacePrx>("RightHandUnit");
+ if (handUnit)
+ {
+ std::string shapeName = (rightHandOpen) ? "Close" : "Open";
+ handUnit->setShape(shapeName);
+ rightHandOpen = !rightHandOpen;
+ rightHandTime = 0.0;
+ }
+ }
+ }
+ else
+ {
+ rightHandTime = 0.0;
+ }
+
+
+ if (enableHeartBeat)
{
- auto now = armarx::core::time::dto::DateTime();
- armarx::core::time::toIce(now, armarx::core::time::DateTime::Now());
- robotHealthTopic->heartbeat(getDefaultName(), "", now);
- }
-
+ auto now = armarx::core::time::dto::DateTime();
+ armarx::core::time::toIce(now, armarx::core::time::DateTime::Now());
+ heartbeat->heartbeat();
+ }
+
//ARMARX_INFO << "sending targets" << data.leftStickX* scaleX << " " << data.leftStickY* scaleY << " " << data.rightStickX* scaleRotation;
}
-}
+} // namespace armarx
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
index 7332a8cbe..add212dcb 100644
--- a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
@@ -84,8 +84,6 @@ HokuyoLaserUnit::onInitComponent()
void
HokuyoLaserUnit::onConnectComponent()
{
- robotHealthTopic = getTopic<RobotHealthInterfacePrx>(
- getProperty<std::string>("RobotHealthTopicName").getValue());
topic = getTopic<LaserScannerUnitListenerPrx>(topicName);
debugObserver = getTopic<DebugObserverInterfacePrx>(
getProperty<std::string>("DebugObserverName").getValue());
@@ -107,21 +105,12 @@ HokuyoLaserUnit::onConnectComponent()
continue;
}
- RobotHealthHeartbeatArgs args;
- auto warn = armarx::core::time::Duration::MilliSeconds(500);
- auto err = armarx::core::time::Duration::MilliSeconds(800);
- armarx::core::time::toIce(args.maximumCycleTimeWarning, warn);
- armarx::core::time::toIce(args.maximumCycleTimeError, err);
- args.componentName = device.componentName + "_" + device.ip;
-
- if (robotHealthTopic)
- {
- robotHealthTopic->signUp(args);
- }
- else
- {
- ARMARX_WARNING << "No robot health topic available: IP: " << device.ip << ", Port: " << device.port;
- }
+ heartbeat->signUp(device.componentName + "_" + device.ip,
+ armarx::core::time::Duration::MilliSeconds(500),
+ armarx::core::time::Duration::MilliSeconds(800),
+ true,
+ {"LaserScanner"},
+ "HokuyoLaserScanDevice");
LaserScannerInfo info;
info.device = device.ip;
@@ -137,7 +126,7 @@ HokuyoLaserUnit::onConnectComponent()
device.lengthData.resize(lengthDataSize);
device.scanTopic = topic;
- device.robotHealthTopic = robotHealthTopic;
+ device.robotHealthPlugin = heartbeat;
device.debugObserver = debugObserver;
connectedDevices.push_back(info);
@@ -284,12 +273,9 @@ HokuyoLaserScanDevice::run()
}
IceUtil::Time time_topicSensor = TimeUtil::GetTime();
- RobotHealthHeartbeatArgs args;
- args.maximumCycleTimeWarningMS = 500;
- args.maximumCycleTimeErrorMS = 800;
- if (robotHealthTopic)
+ if (robotHealthPlugin)
{
- robotHealthTopic->heartbeat(componentName + "_" + ip, args);
+ robotHealthPlugin->heartbeatOnChannel(componentName + "_" + ip);
}
else
{
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
index 57595aff8..560a5dd12 100644
--- a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
@@ -22,14 +22,17 @@
#pragma once
+#include <vector>
+
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/services/tasks/RunningTask.h>
+
#include <RobotAPI/components/units/SensorActorUnit.h>
-#include <RobotAPI/interface/units/LaserScannerUnit.h>
#include <RobotAPI/interface/components/RobotHealthInterface.h>
+#include <RobotAPI/interface/units/LaserScannerUnit.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h>
#include <HokuyoLaserScannerDriver/urg_sensor.h>
-#include <vector>
namespace armarx
{
@@ -37,21 +40,30 @@ namespace armarx
* @class HokuyoLaserUnitPropertyDefinitions
* @brief
*/
- class HokuyoLaserUnitPropertyDefinitions:
- public armarx::ComponentPropertyDefinitions
+ class HokuyoLaserUnitPropertyDefinitions : public armarx::ComponentPropertyDefinitions
{
public:
- HokuyoLaserUnitPropertyDefinitions(std::string prefix):
+ HokuyoLaserUnitPropertyDefinitions(std::string prefix) :
armarx::ComponentPropertyDefinitions(prefix)
{
- defineOptionalProperty<std::string>("LaserScannerTopicName", "LaserScans", "Name of the laser scan topic.");
+ defineOptionalProperty<std::string>(
+ "LaserScannerTopicName", "LaserScans", "Name of the laser scan topic.");
defineOptionalProperty<int>("UpdatePeriod", 25, "Update period for laser scans");
- defineOptionalProperty<float>("AngleOffset", -2.3561944902, "Offset is applied the raw angles before reporting them");
- defineOptionalProperty<std::string>("Devices", "", "List of devices in form of 'IP1,port1,frame1;IP2,port2,frame2;...'");
-
- defineOptionalProperty<std::string>("RobotHealthComponentName", "RobotHealth", "Name of the RobotHealth component");
- defineOptionalProperty<std::string>("RobotHealthTopicName", "RobotHealthTopic", "Name of the RobotHealth topic");
- defineOptionalProperty<std::string>("DebugObserverName", "DebugObserver", "Name of the topic the DebugObserver listens on");
+ defineOptionalProperty<float>("AngleOffset",
+ -2.3561944902,
+ "Offset is applied the raw angles before reporting them");
+ defineOptionalProperty<std::string>(
+ "Devices",
+ "",
+ "List of devices in form of 'IP1,port1,frame1;IP2,port2,frame2;...'");
+
+ defineOptionalProperty<std::string>(
+ "RobotHealthComponentName", "RobotHealth", "Name of the RobotHealth component");
+ defineOptionalProperty<std::string>(
+ "RobotHealthTopicName", "RobotHealthTopic", "Name of the RobotHealth topic");
+ defineOptionalProperty<std::string>("DebugObserverName",
+ "DebugObserver",
+ "Name of the topic the DebugObserver listens on");
}
};
@@ -76,8 +88,7 @@ namespace armarx
std::string componentName;
LaserScannerUnitListenerPrx scanTopic;
- RobotHealthPrx
- RobotHealthInterfacePrx robotHealthTopic;
+ armarx::plugins::HeartbeatComponentPlugin* robotHealthPlugin;
DebugObserverInterfacePrx debugObserver;
};
@@ -94,13 +105,15 @@ namespace armarx
*/
class HokuyoLaserUnit :
virtual public armarx::LaserScannerUnitInterface,
+ virtual public armarx::HeartbeatComponentPluginUser,
virtual public armarx::SensorActorUnit
{
public:
/**
* @see armarx::ManagedIceObject::getDefaultName()
*/
- std::string getDefaultName() const override
+ std::string
+ getDefaultName() const override
{
return "HokuyoLaserUnit";
}
@@ -142,8 +155,6 @@ namespace armarx
float angleOffset = 0.0f;
std::vector<HokuyoLaserScanDevice> devices;
LaserScannerInfoSeq connectedDevices;
- RobotHealthInterfacePrx robotHealthTopic;
DebugObserverInterfacePrx debugObserver;
};
-}
-
+} // namespace armarx
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
index 6411af0bb..7daa93200 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.cpp
@@ -10,46 +10,83 @@
namespace armarx::plugins
{
void
- HeartbeatComponentPlugin::configureHeartbeatChannel(const std::string& channel,
- const RobotHealthHeartbeatArgs& args)
+ HeartbeatComponentPlugin::signUp(bool required,
+ const std::vector<std::string> aliases,
+ const std::string& description)
{
- channelHeartbeatConfig.emplace(channel, args);
+ RobotHealthHeartbeatArgs argsCopy = defaultHeartbeatArgs;
+ argsCopy.description = description;
+ argsCopy.aliases = aliases;
+ argsCopy.requiredByDefault = required;
+ signUp(argsCopy);
}
void
- HeartbeatComponentPlugin::configureHeartbeatChannel(const std::string& channel,
- const std::string& description)
+ HeartbeatComponentPlugin::signUp(const std::string& name,
+ bool required,
+ const std::vector<std::string> aliases,
+ const std::string& description)
{
- auto args = defaultHeartbeatArgs;
- args.description = description;
- configureHeartbeatChannel(channel, args);
+ RobotHealthHeartbeatArgs argsCopy = defaultHeartbeatArgs;
+ argsCopy.description = description;
+ argsCopy.componentName = name;
+ argsCopy.aliases = aliases;
+ argsCopy.requiredByDefault = required;
+ signUp(argsCopy);
}
void
- HeartbeatComponentPlugin::signUp()
+ HeartbeatComponentPlugin::signUp(const std::string componentName,
+ const armarx::core::time::Duration& warning,
+ const armarx::core::time::Duration& error,
+ bool required,
+ const std::vector<std::string> aliases,
+ const std::string& description)
{
- RobotHealthHeartbeatArgs args = defaultHeartbeatArgs;
- args.componentName = componentName;
- p.rhprx->signUp(args);
+ RobotHealthHeartbeatArgs argsCopy = defaultHeartbeatArgs;
+ argsCopy.description = description;
+ argsCopy.aliases = aliases;
+ argsCopy.componentName = componentName;
+ armarx::core::time::toIce(argsCopy.maximumCycleTimeWarning, warning);
+ armarx::core::time::toIce(argsCopy.maximumCycleTimeError, error);
+ argsCopy.requiredByDefault = required;
+ signUp(argsCopy);
}
void
- HeartbeatComponentPlugin::signUp(const std::string& channelName)
+ HeartbeatComponentPlugin::signUp(const armarx::core::time::Duration& warning,
+ const armarx::core::time::Duration& error,
+ bool required,
+ const std::vector<std::string> aliases,
+ const std::string& description)
{
- const auto argsIt = channelHeartbeatConfig.find(channelName);
- ARMARX_CHECK(argsIt != channelHeartbeatConfig.end())
- << "signUp(channel) called for unknown channel '" << channelName << "'."
- << "You must register the config using configureHeartbeatChannel(channel) first!";
-
- RobotHealthHeartbeatArgs args = channelHeartbeatConfig[channelName];
- args.componentName = componentName + "_" + channelName;
- p.rhprx->signUp(args);
+ RobotHealthHeartbeatArgs argsCopy = defaultHeartbeatArgs;
+ argsCopy.description = description;
+ argsCopy.aliases = aliases;
+ armarx::core::time::toIce(argsCopy.maximumCycleTimeWarning, warning);
+ armarx::core::time::toIce(argsCopy.maximumCycleTimeError, error);
+ argsCopy.requiredByDefault = required;
+ signUp(argsCopy);
}
void
- HeartbeatComponentPlugin::heartbeat(const std::string& message)
+ HeartbeatComponentPlugin::signUp(const RobotHealthHeartbeatArgs& args)
{
+ if (args.componentName.empty())
+ {
+ RobotHealthHeartbeatArgs argsCopy = args;
+ argsCopy.componentName = componentName;
+ p.rhprx->signUp(argsCopy);
+ }
+ else
+ {
+ p.rhprx->signUp(args);
+ }
+ }
+ void
+ HeartbeatComponentPlugin::heartbeat(const std::string& message)
+ {
if (robotHealthTopic)
{
armarx::core::time::dto::DateTime now;
@@ -63,7 +100,8 @@ namespace armarx::plugins
}
void
- HeartbeatComponentPlugin::heartbeat(const std::string& channelName, const std::string& message)
+ HeartbeatComponentPlugin::heartbeatOnChannel(const std::string& channelName,
+ const std::string& message)
{
if (robotHealthTopic)
{
@@ -102,8 +140,8 @@ namespace armarx::plugins
void
HeartbeatComponentPlugin::preOnConnectComponent()
{
- topicName = p.rhprx->getTopicName();
- robotHealthTopic = parent<Component>().getTopic<RobotHealthInterfacePrx>(topicName);
+ topicName = p.rhprx->getTopicName();
+ robotHealthTopic = parent<Component>().getTopic<RobotHealthInterfacePrx>(topicName);
}
void
@@ -111,10 +149,8 @@ namespace armarx::plugins
{
if (!properties->hasDefinition(makePropertyName(healthPropertyName)))
{
- properties->component(p.rhprx,
- "RobotHealth",
- healthPropertyName,
- "Name of the robot health component.");
+ properties->component(
+ p.rhprx, "RobotHealth", healthPropertyName, "Name of the robot health component.");
}
if (not properties->hasDefinition(makePropertyName(maximumCycleTimeWarningMSPropertyName)))
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h
index 4f4e9564f..c237e9085 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/HeartbeatComponentPlugin.h
@@ -23,6 +23,7 @@
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/time/Duration.h>
#include <RobotAPI/interface/components/RobotHealthInterface.h>
@@ -34,15 +35,44 @@ namespace armarx::plugins
public:
using ComponentPlugin::ComponentPlugin;
+ /**
+ * @brief register component to heartbeat
+ */
+ void signUp(bool requiredByDefault = true,
+ const std::vector<std::string> aliases = {},
+ const std::string& description = "");
+
/**
* @brief register component to heartbeat
*/
- void signUp(const RobotHealthHeartbeatArgs& args);
+ void signUp(const std::string& name,
+ bool requiredByDefault = true,
+ const std::vector<std::string> aliases = {},
+ const std::string& description = "");
+
+ /**
+ * @brief register component to heartbeat
+ */
+ void signUp(const armarx::core::time::Duration& warning,
+ const armarx::core::time::Duration& error,
+ bool requiredByDefault = true,
+ const std::vector<std::string> aliases = {},
+ const std::string& description = "");
+
+ /**
+ * @brief register component to heartbeat
+ */
+ void signUp(const std::string componentName,
+ const armarx::core::time::Duration& warning,
+ const armarx::core::time::Duration& error,
+ bool requiredByDefault = true,
+ const std::vector<std::string> aliases = {},
+ const std::string& description = "");
/**
- * @brief register component with a specific name to heartbeat
+ * @brief register component to heartbeat, possibly with different component name
*/
- void signUp(const std::string& channelName, const RobotHealthHeartbeatArgs& args);
+ void signUp(const RobotHealthHeartbeatArgs& args);
/**
* @brief Sends out a heartbeat using the default config
@@ -57,7 +87,7 @@ namespace armarx::plugins
*
* @param channel Identifier of the heartbeat channel
*/
- void heartbeat(const std::string& channelName, const std::string& message = "");
+ void heartbeatOnChannel(const std::string& channelName, const std::string& message = "");
protected:
void preOnInitComponent() override;
@@ -66,6 +96,10 @@ namespace armarx::plugins
void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+ public:
+ RobotHealthInterfacePrx robotHealthTopic;
+ std::string topicName{"RobotHealthTopic"};
+
private:
//! heartbeat topic name (outgoing)
@@ -79,10 +113,6 @@ namespace armarx::plugins
static constexpr auto maximumCycleTimeErrorMSPropertyName =
"heartbeat.maximumCycleTimeErrorMS";
-
- RobotHealthInterfacePrx robotHealthTopic;
- std::string topicName{"RobotHealthTopic"};
-
struct Properties
{
RobotHealthComponentInterfacePrx rhprx;
@@ -92,9 +122,6 @@ namespace armarx::plugins
//! default config used in heartbeat(), set via properties
RobotHealthHeartbeatArgs defaultHeartbeatArgs;
-
- //! configs used in heartbeat(channel), set by user via configureHeartbeatChannel(...)
- std::unordered_map<std::string, RobotHealthHeartbeatArgs> channelHeartbeatConfig;
};
} // namespace armarx::plugins
@@ -108,6 +135,12 @@ namespace armarx
public:
HeartbeatComponentPluginUser();
+ RobotHealthInterfacePrx
+ getHeartbeatTopic()
+ {
+ return heartbeat->robotHealthTopic;
+ }
+
protected:
armarx::plugins::HeartbeatComponentPlugin* heartbeat = nullptr;
};
--
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