From 6798220f4efa9b5a1a530e05541aa8f64bb4f7be Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Thu, 4 Oct 2018 17:31:01 +0200
Subject: [PATCH] factory fixes
---
.../AbstractFunctionalDevice.cpp | 5 ++
.../ArmarXEtherCAT/AbstractFunctionalDevice.h | 5 ++
.../ArmarXEtherCAT/DeviceContainer.cpp | 81 ++++++++++---------
3 files changed, 55 insertions(+), 36 deletions(-)
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractFunctionalDevice.cpp b/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractFunctionalDevice.cpp
index 878b2c4da..7d5db2ec6 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractFunctionalDevice.cpp
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractFunctionalDevice.cpp
@@ -28,6 +28,11 @@ bool armarx::AbstractFunctionalDevice::isInitialized() const
return initialized;
}
+std::string armarx::AbstractFunctionalDevice::getClassName() const
+{
+ return className;
+}
+
const armarx::DefaultRapidXmlReaderNode armarx::AbstractFunctionalDevice::getNode() const
{
return node;
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractFunctionalDevice.h b/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractFunctionalDevice.h
index 8d03ff838..1c1c3b18f 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractFunctionalDevice.h
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/AbstractFunctionalDevice.h
@@ -34,7 +34,12 @@ namespace armarx
virtual void execute() {}
+ std::string getClassName() const;
+
protected:
+ template <typename Base, typename constructorArg, typename SharedPointer>
+ friend class AbstractFactoryMethod;
+ std::string className;
DefaultRapidXmlReaderNode node;
bool initialized = false;
};
diff --git a/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.cpp b/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.cpp
index 9631e1bbc..beb75ddf2 100644
--- a/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.cpp
+++ b/source/RobotAPI/libraries/ArmarXEtherCAT/DeviceContainer.cpp
@@ -31,50 +31,59 @@
namespace armarx
{
-size_t DeviceContainer::load(const MultiNodeRapidXMLReader &rootNodeConfigs, const VirtualRobot::RobotPtr &robot)
-{
- size_t addedDevices = 0;
- auto children = robot->getChildren();
- auto getSceneObject = [&](const std::string & name)
+ size_t DeviceContainer::load(const MultiNodeRapidXMLReader& rootNodeConfigs, const VirtualRobot::RobotPtr& robot)
{
- for (auto& obj : children)
+ size_t addedDevices = 0;
+ auto children = robot->getRobotNodes();
+ auto getSceneObject = [&](const std::string & name)
{
- if (obj->getName() == name)
+ for (auto& obj : children)
{
- return obj;
+ if (obj->getName() == name)
+ {
+ return VirtualRobot::SceneObjectPtr(obj);
+ }
}
- }
- return VirtualRobot::SceneObjectPtr();
- };
- //rootNode = rootNodeConfig;
-
- auto defaultNode = DefaultRapidXmlReaderNode(rootNodeConfigs.nodes("DefaultConfiguration"));
- for(auto& node : rootNodeConfigs.nodes(nullptr))
- {
- if(node.name()=="DefaultConfiguration")
- {
- continue;
- }
- auto name = node.attribute_value("name");
- auto obj = getSceneObject(name);
- ARMARX_CHECK_EXPRESSION_W_HINT(obj, name);
- auto tuple = std::make_tuple(node, defaultNode, obj);
- auto instance = VirtualDeviceFactory::fromName(node.name(),tuple);
- if(instance)
- {
- ARMARX_WARNING << "No factory found for virtual device " << node.name();
- }
- else
+ for (auto& s : robot->getSensors())
+ {
+ if (s->getName() == name)
+ {
+ return VirtualRobot::SceneObjectPtr(s);
+ }
+ }
+ return VirtualRobot::SceneObjectPtr();
+ };
+ //rootNode = rootNodeConfig;
+ ARMARX_DEBUG << "Device factories: " << VirtualDeviceFactory::getAvailableClasses();
+ auto defaultNode = DefaultRapidXmlReaderNode(rootNodeConfigs.nodes("DefaultConfiguration"));
+ for (auto& node : rootNodeConfigs.nodes(nullptr))
{
- devices.push_back(instance);
- addedDevices++;
+ if (node.name() == "DefaultConfiguration" || node.name() == "include" || node.name().empty())
+ {
+ continue;
+ }
+ auto name = node.attribute_value("name");
+ ARMARX_DEBUG << "Handling: " << node.name() << " name: " << name;
+ auto obj = getSceneObject(name);
+ // ARMARX_CHECK_EXPRESSION_W_HINT(obj, name);
+ auto tuple = std::make_tuple(node, defaultNode, obj);
+ auto instance = VirtualDeviceFactory::fromName(node.name(), tuple);
+ if (!instance)
+ {
+ ARMARX_WARNING << "No factory found for virtual device " << node.name();
+ }
+ else
+ {
+ ARMARX_VERBOSE << "Created instance of type " << node.name();
+ devices.push_back(instance);
+ addedDevices++;
+ }
}
- }
- return addedDevices;
+ return addedDevices;
-}
+ }
-std::vector<AbstractFunctionalDevicePtr> DeviceContainer::getAllInitializedFunctionalDevices() const
+ std::vector<AbstractFunctionalDevicePtr> DeviceContainer::getAllInitializedFunctionalDevices() const
{
std::vector<AbstractFunctionalDevicePtr> returnList;
for (AbstractFunctionalDevicePtr& device : getAllFunctionalDevices())
--
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