diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index 343addf16d384b97802185c482262eaea61242d9..63328dbb33accad3fe1cae87414fce09238e92fe 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -20,3 +20,5 @@ add_subdirectory(PlatformUnitSimulation)
add_subdirectory(PlatformUnitObserver)
add_subdirectory(RobotStateComponent)
add_subdirectory(RobotStateObserver)
+
+add_subdirectory(HandUnitObserver)
\ No newline at end of file
diff --git a/source/RobotAPI/applications/HandUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/HandUnitObserver/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddfca935c3cbc959370f68d3bc05512287412cba
--- /dev/null
+++ b/source/RobotAPI/applications/HandUnitObserver/CMakeLists.txt
@@ -0,0 +1,16 @@
+armarx_component_set_name("HandUnitObserverApp")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+#
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+# include_directories(${MyLib_INCLUDE_DIRS})
+#endif()
+
+set(COMPONENT_LIBS RobotAPIUnits ArmarXInterfaces ArmarXCore)
+
+set(EXE_SOURCE main.cpp)
+
+armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/HandUnitObserver/HandUnitObserverApp.h b/source/RobotAPI/applications/HandUnitObserver/HandUnitObserverApp.h
new file mode 100644
index 0000000000000000000000000000000000000000..3a8cbcf77d5b9bf22738ce91f8e8e28ef81c6d0a
--- /dev/null
+++ b/source/RobotAPI/applications/HandUnitObserver/HandUnitObserverApp.h
@@ -0,0 +1,54 @@
+/*
+ * 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::application::HandUnitObserver
+ * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_APPLICATION_RobotAPI_HandUnitObserver_H
+#define _ARMARX_APPLICATION_RobotAPI_HandUnitObserver_H
+
+
+ #include <RobotAPI/units/HandUnitObserver.h>
+
+#include <Core/core/application/Application.h>
+
+namespace armarx
+{
+ /**
+ * @class HandUnitObserverApp
+ * @brief A brief description
+ *
+ * Detailed Description
+ */
+ class HandUnitObserverApp :
+ virtual public armarx::Application
+ {
+ /**
+ * @see armarx::Application::setup()
+ */
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry,
+ Ice::PropertiesPtr properties)
+ {
+ registry->addObject( Component::create<HandUnitObserver>(properties) );
+ }
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/applications/HandUnitObserver/main.cpp b/source/RobotAPI/applications/HandUnitObserver/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..340d409641c29ba3a02ea68e5a7d15ca412ff234
--- /dev/null
+++ b/source/RobotAPI/applications/HandUnitObserver/main.cpp
@@ -0,0 +1,33 @@
+/*
+ * 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::application::HandUnitObserver
+ * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "HandUnitObserverApp.h"
+#include <Core/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+ armarx::ApplicationPtr app = armarx::Application::createInstance < armarx::HandUnitObserverApp > ();
+ app->setName("HandUnitObserver");
+
+ return app->main(argc, argv);
+}
diff --git a/source/RobotAPI/interface/units/HandUnitInterface.ice b/source/RobotAPI/interface/units/HandUnitInterface.ice
index 3b64ffd2f7caecf350401d8c5cafa467d20c1740..582ebe79f85bab74fa0cdfad7dc664b270edccb0 100644
--- a/source/RobotAPI/interface/units/HandUnitInterface.ice
+++ b/source/RobotAPI/interface/units/HandUnitInterface.ice
@@ -30,6 +30,8 @@
#include <Core/interface/core/UserException.ice>
#include <Core/interface/core/BasicTypes.ice>
#include <Core/interface/observers/VariantContainers.ice>
+#include <Core/interface/observers/ObserverInterface.ice>
+
module armarx
{
@@ -56,14 +58,21 @@ module armarx
void setObjectReleased(string objectName);
};
- interface HandUnitListener
+ interface HandUnitListener extends armarx::ObserverInterface
{
+<<<<<<< HEAD
void reportHandClosed();
void reportHandOpened();
void reportHandPreshaped();
// informs all listeners that we grasped an object
void reportObjectGrasped(string robotName, string robotNodeName, string objectName);
+=======
+ void reportHandClosed(bool isLeftHand);
+ void reportHandOpened(bool isLeftHand);
+ void reportHandPreshaped(bool isLeftHand);
+ void reportNewHandShapeName(bool isLeftHand, string handShapeName);
+>>>>>>> 2f3326fdfecad75fe7a1047e694a6857ba78b6aa
};
};
diff --git a/source/RobotAPI/robotstate/remote/CMakeLists.txt b/source/RobotAPI/robotstate/remote/CMakeLists.txt
index e2467fb00728633d76cc178e089e80d42b0f90e0..8540a5d250ede4b1a15bb53c14900b1faeb8795e 100644
--- a/source/RobotAPI/robotstate/remote/CMakeLists.txt
+++ b/source/RobotAPI/robotstate/remote/CMakeLists.txt
@@ -1,5 +1,5 @@
-armarx_set_target("Core Library: ArmarXCoreRemoteRobot")
+armarx_set_target("Core Library: RobotAPIRemoteRobot")
find_package(Eigen3 QUIET)
if (NOT Simox_FOUND)
find_package(Simox 2.3.0 QUIET)
@@ -24,6 +24,7 @@ set(LIB_FILES ArmarPose.cpp
RemoteRobot.cpp
RemoteRobotNode.cpp
checks/ConditionCheckMagnitudeChecks.cpp
+ RobotStateObjectFactories.cpp
)
set(LIB_HEADERS ArmarPose.h
LinkedPose.h
diff --git a/source/RobotAPI/robotstate/remote/LinkedPose.cpp b/source/RobotAPI/robotstate/remote/LinkedPose.cpp
index 23de4ee3ea5280558a126b45779cada9c132e5c0..fb57250f64aebf59cbd0db39c64a071b60ef4cc4 100644
--- a/source/RobotAPI/robotstate/remote/LinkedPose.cpp
+++ b/source/RobotAPI/robotstate/remote/LinkedPose.cpp
@@ -158,6 +158,8 @@ namespace armarx {
void LinkedVector3::changeFrame(const std::string &newFrame, const Ice::Current &c)
{
+ ARMARX_WARNING_S << "This function doesn't work!";
+
if(newFrame == frame)
return;
diff --git a/source/RobotAPI/robotstate/remote/RobotStateObjectFactories.cpp b/source/RobotAPI/robotstate/remote/RobotStateObjectFactories.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..af1999ea36988e3bb0c121ef3b39e632efce6aec
--- /dev/null
+++ b/source/RobotAPI/robotstate/remote/RobotStateObjectFactories.cpp
@@ -0,0 +1,27 @@
+/*
+* 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 ArmarX::
+* @author Mirko Waechter ( mirko.waechter at kit dot edu)
+* @date 2014
+* @copyright http://www.gnu.org/licenses/gpl.txt
+* GNU General Public License
+*/
+
+#include "RobotStateObjectFactories.h"
+using namespace armarx;
+using namespace armarx::ObjectFactories;
+const FactoryCollectionBaseCleanUp RobotStateObjectFactories::RobotStateObjectFactoriesVar = FactoryCollectionBase::addToPreregistration(new RobotStateObjectFactories());
diff --git a/source/RobotAPI/robotstate/remote/RobotStateObjectFactories.h b/source/RobotAPI/robotstate/remote/RobotStateObjectFactories.h
index 75fd46891106e162941b6b8c0ddf155e94711d10..d9bf208af9a26a3fe50813f7d4ad7c9135869e66 100644
--- a/source/RobotAPI/robotstate/remote/RobotStateObjectFactories.h
+++ b/source/RobotAPI/robotstate/remote/RobotStateObjectFactories.h
@@ -169,8 +169,8 @@ namespace armarx
return map;
}
+ static const FactoryCollectionBaseCleanUp RobotStateObjectFactoriesVar;
};
- const FactoryCollectionBaseCleanUp RobotStateObjectFactoriesVar = FactoryCollectionBase::addToPreregistration(new RobotStateObjectFactories());
}
}
diff --git a/source/RobotAPI/units/CMakeLists.txt b/source/RobotAPI/units/CMakeLists.txt
index fd4a6fda6ed0eee68f165b88c9f6c7510ef8893c..0164bfeccee201feabbaae3a2da9ef9e4ddb8ec7 100644
--- a/source/RobotAPI/units/CMakeLists.txt
+++ b/source/RobotAPI/units/CMakeLists.txt
@@ -37,6 +37,7 @@ set(LIB_HEADERS
TCPControlUnitObserver.h
HandUnit.h
+ HandUnitObserver.h
HardwareUnit.h
KinematicUnit.h
KinematicUnitSimulation.h
@@ -58,6 +59,7 @@ set(LIB_FILES
TCPControlUnitObserver.cpp
HandUnit.cpp
+ HandUnitObserver.cpp
HardwareUnit.cpp
KinematicUnit.cpp
KinematicUnitSimulation.cpp
diff --git a/source/RobotAPI/units/HandUnitObserver.cpp b/source/RobotAPI/units/HandUnitObserver.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..cdb899d599f314c45bc75c8c8019c8339d6cf668
--- /dev/null
+++ b/source/RobotAPI/units/HandUnitObserver.cpp
@@ -0,0 +1,121 @@
+#include "HandUnitObserver.h"
+
+
+#include <Core/observers/checks/ConditionCheckEquals.h>
+#include <Core/observers/checks/ConditionCheckUpdated.h>
+
+
+
+
+using namespace armarx;
+
+
+void HandUnitObserver::onInitObserver()
+{
+ usingTopic("LeftHandState");
+ usingTopic("RightHandState");
+
+ offerChannel("leftHand", "Gives information about the state of the left robot hand.");
+ offerDataField("leftHand", "isOpen", VariantType::Bool, "Is true when the hand is open, false if not.");
+ setDataField("leftHand", "isOpen", false);
+ offerDataField("leftHand", "isClosed", VariantType::Bool, "Is true when the hand is closed, false if not.");
+ setDataField("leftHand", "isClosed", false);
+ offerDataField("leftHand", "shapeName", VariantType::String, "Contains the name of the current hand shape.");
+ setDataField("leftHand", "shapeName", "unknown");
+ updateChannel("leftHand");
+
+ offerChannel("rightHand", "Gives information about the state of the right robot hand.");
+ offerDataField("rightHand", "isOpen", VariantType::Bool, "Is true when the hand is open, false if not.");
+ setDataField("rightHand", "isOpen", false);
+ offerDataField("rightHand", "isClosed", VariantType::Bool, "Is true when the hand is closed, false if not.");
+ setDataField("rightHand", "isClosed", false);
+ offerDataField("rightHand", "shapeName", VariantType::String, "Contains the name of the current hand shape.");
+ setDataField("rightHand", "shapeName", "unknown");
+ updateChannel("rightHand");
+
+ offerConditionCheck("equals", new armarx::ConditionCheckEquals());
+ offerConditionCheck("updated", new armarx::ConditionCheckUpdated());
+}
+
+
+
+void HandUnitObserver::onConnectObserver()
+{
+
+}
+
+
+
+void HandUnitObserver::onExitObserver()
+{
+
+}
+
+
+
+void HandUnitObserver::reportHandClosed(bool isLeftHand, const Ice::Current&)
+{
+ if (isLeftHand)
+ {
+ setDataField("leftHand", "isOpen", false);
+ setDataField("leftHand", "isClosed", true);
+ updateChannel("leftHand");
+ }
+ else
+ {
+ setDataField("rightHand", "isOpen", false);
+ setDataField("rightHand", "isClosed", true);
+ updateChannel("rightHand");
+ }
+}
+
+
+
+void HandUnitObserver::reportHandOpened(bool isLeftHand, const Ice::Current&)
+{
+ if (isLeftHand)
+ {
+ setDataField("leftHand", "isOpen", true);
+ setDataField("leftHand", "isClosed", false);
+ updateChannel("leftHand");
+ }
+ else
+ {
+ setDataField("rightHand", "isOpen", true);
+ setDataField("rightHand", "isClosed", false);
+ updateChannel("rightHand");
+ }
+}
+
+
+void HandUnitObserver::reportHandPreshaped(bool isLeftHand, const Ice::Current&)
+{
+ if (isLeftHand)
+ {
+ setDataField("leftHand", "isOpen", false);
+ setDataField("leftHand", "isClosed", false);
+ updateChannel("leftHand");
+ }
+ else
+ {
+ setDataField("rightHand", "isOpen", false);
+ setDataField("rightHand", "isClosed", false);
+ updateChannel("rightHand");
+ }
+}
+
+
+
+void HandUnitObserver::reportNewHandShapeName(bool isLeftHand, const std::string& handShapeName, const Ice::Current&)
+{
+ if (isLeftHand)
+ {
+ setDataField("leftHand", "shapeName", handShapeName);
+ updateChannel("leftHand");
+ }
+ else
+ {
+ setDataField("rightHand", "shapeName", handShapeName);
+ updateChannel("rightHand");
+ }
+}
diff --git a/source/RobotAPI/units/HandUnitObserver.h b/source/RobotAPI/units/HandUnitObserver.h
new file mode 100644
index 0000000000000000000000000000000000000000..98134d4fd2dd18b180eafe2405e353f8658aa06b
--- /dev/null
+++ b/source/RobotAPI/units/HandUnitObserver.h
@@ -0,0 +1,77 @@
+/*
+ * 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::units
+ * @author David Schiebener <schiebener at kit dot edu>
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_ROBOTAPI_HAND_UNIT_OBSERVER_H
+#define _ARMARX_ROBOTAPI_HAND_UNIT_OBSERVER_H
+
+#include <RobotAPI/interface/units/HandUnitInterface.h>
+#include <Core/observers/Observer.h>
+
+
+namespace armarx
+{
+
+ class HandUnitObserverPropertyDefinitions:
+ public ComponentPropertyDefinitions
+ {
+ public:
+ HandUnitObserverPropertyDefinitions(std::string prefix):
+ ComponentPropertyDefinitions(prefix)
+ {
+ //defineRequiredProperty<std::string>("HapticTopicName", "Name of the HapticUnit Topic");
+ }
+ };
+
+
+ class HandUnitObserver :
+ virtual public Observer,
+ virtual public HandUnitListener
+ {
+ public:
+ HandUnitObserver(){}
+
+ //void setTopicName(std::string topicName);
+
+ // framework hooks
+ virtual std::string getDefaultName() const { return "HandUnitObserver"; }
+ virtual void onInitObserver();
+ virtual void onConnectObserver();
+ virtual void onExitObserver();
+
+ // observer interface
+ virtual void reportHandClosed(bool isLeftHand, const ::Ice::Current& = ::Ice::Current());
+ virtual void reportHandOpened(bool isLeftHand, const ::Ice::Current& = ::Ice::Current());
+ virtual void reportHandPreshaped(bool isLeftHand, const ::Ice::Current& = ::Ice::Current());
+ virtual void reportNewHandShapeName(bool isLeftHand, const ::std::string& handShapeName, const ::Ice::Current& = ::Ice::Current());
+
+ /**
+ * @see PropertyUser::createPropertyDefinitions()
+ */
+ //virtual PropertyDefinitionsPtr createPropertyDefinitions();
+ private:
+
+
+ };
+}
+
+#endif