From 791b3d039a33d58e4dbd2dde0d29a5927d41eccd Mon Sep 17 00:00:00 2001
From: Peter Kaiser <peter.kaiser@kit.edu>
Date: Fri, 15 Aug 2014 21:15:09 +0200
Subject: [PATCH] Added DummyUnit and DummyObserver as simple examples for the
documentation
---
scenarios/DummyTest/CMakeLists.txt | 1 +
scenarios/DummyTest/config/DummyUnitApp.cfg | 83 +++++++++++++++++++
.../DummyTest/config/DummyUnitObserver.cfg | 83 +++++++++++++++++++
source/RobotAPI/applications/CMakeLists.txt | 3 +
.../DummyUnitObserver/CMakeLists.txt | 8 ++
.../DummyUnitObserver/DummyUnitObserverApp.h | 40 +++++++++
.../applications/DummyUnitObserver/main.cpp | 33 ++++++++
source/RobotAPI/interface/CMakeLists.txt | 1 +
.../observers/DummyUnitObserverInterface.ice | 37 +++++++++
.../interface/units/DummyUnitInterface.ice | 1 +
source/RobotAPI/units/CMakeLists.txt | 2 +
source/RobotAPI/units/DummyUnit.cpp | 15 ++++
source/RobotAPI/units/DummyUnit.h | 7 +-
source/RobotAPI/units/DummyUnitObserver.cpp | 47 +++++++++++
source/RobotAPI/units/DummyUnitObserver.h | 61 ++++++++++++++
15 files changed, 421 insertions(+), 1 deletion(-)
create mode 100644 scenarios/DummyTest/config/DummyUnitApp.cfg
create mode 100644 scenarios/DummyTest/config/DummyUnitObserver.cfg
create mode 100644 source/RobotAPI/applications/DummyUnitObserver/CMakeLists.txt
create mode 100644 source/RobotAPI/applications/DummyUnitObserver/DummyUnitObserverApp.h
create mode 100644 source/RobotAPI/applications/DummyUnitObserver/main.cpp
create mode 100644 source/RobotAPI/interface/observers/DummyUnitObserverInterface.ice
create mode 100644 source/RobotAPI/units/DummyUnitObserver.cpp
create mode 100644 source/RobotAPI/units/DummyUnitObserver.h
diff --git a/scenarios/DummyTest/CMakeLists.txt b/scenarios/DummyTest/CMakeLists.txt
index e16143090..4cee04548 100644
--- a/scenarios/DummyTest/CMakeLists.txt
+++ b/scenarios/DummyTest/CMakeLists.txt
@@ -1,5 +1,6 @@
set(SCENARIO_COMPONENTS
DummyUnitApp
+ DummyUnitObserver
)
# optional 3rd parameter: "path/to/global/config.cfg"
diff --git a/scenarios/DummyTest/config/DummyUnitApp.cfg b/scenarios/DummyTest/config/DummyUnitApp.cfg
new file mode 100644
index 000000000..e0b8b5606
--- /dev/null
+++ b/scenarios/DummyTest/config/DummyUnitApp.cfg
@@ -0,0 +1,83 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.DummyUnit properties
+# ==================================================================
+
+# ArmarX.DummyUnit.ReportPeriod: The unit's reporting period in ms
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.DummyUnit.ReportPeriod = 1000
+
+
+# ArmarX.DummyUnit.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.DummyUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DummyUnit.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DummyUnit.ObjectName = ""
+
+
+
diff --git a/scenarios/DummyTest/config/DummyUnitObserver.cfg b/scenarios/DummyTest/config/DummyUnitObserver.cfg
new file mode 100644
index 000000000..5994f9f5e
--- /dev/null
+++ b/scenarios/DummyTest/config/DummyUnitObserver.cfg
@@ -0,0 +1,83 @@
+# ==================================================================
+# ArmarX properties
+# ==================================================================
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Verbose
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Verbose
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ==================================================================
+# ArmarX.DummyUnitObserver properties
+# ==================================================================
+
+# ArmarX.DummyUnitObserver.ReportPeriod: The unit's reporting period in ms
+# Attributes:
+# - Case sensitivity: no
+# - Required: yes
+ArmarX.DummyUnitObserver.ReportPeriod = <set value!>
+
+
+# ArmarX.DummyUnitObserver.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# - Possible values: {Error, Fatal, Info, Undefined, Verbose, Warning}
+# ArmarX.DummyUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.DummyUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DummyUnitObserver.ObjectName = ""
+
+
+
diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index 3018fcc51..9c5c39bca 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -21,3 +21,6 @@ add_subdirectory(PlatformUnitObserver)
add_subdirectory(RobotStateComponent)
add_subdirectory(RobotStateObserver)
add_subdirectory(HandUnitObserver)
+add_subdirectory(DummyUnit)
+add_subdirectory(DummyUnitObserver)
+
diff --git a/source/RobotAPI/applications/DummyUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/DummyUnitObserver/CMakeLists.txt
new file mode 100644
index 000000000..5ecfd42e2
--- /dev/null
+++ b/source/RobotAPI/applications/DummyUnitObserver/CMakeLists.txt
@@ -0,0 +1,8 @@
+
+armarx_component_set_name(DummyUnitObserver)
+
+set(COMPONENT_LIBS RobotAPIUnits RobotAPICore RobotAPIInterfaces ArmarXInterfaces ArmarXCore ArmarXCoreObservers)
+
+set(SOURCES main.cpp DummyUnitObserverApp.h)
+
+armarx_add_component_executable("${SOURCES}")
diff --git a/source/RobotAPI/applications/DummyUnitObserver/DummyUnitObserverApp.h b/source/RobotAPI/applications/DummyUnitObserver/DummyUnitObserverApp.h
new file mode 100644
index 000000000..27d9c4cd9
--- /dev/null
+++ b/source/RobotAPI/applications/DummyUnitObserver/DummyUnitObserverApp.h
@@ -0,0 +1,40 @@
+/*
+ * 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::DummyUnit
+ * @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 <Core/core/application/Application.h>
+#include <RobotAPI/units/DummyUnitObserver.h>
+
+namespace armarx
+{
+ class DummyUnitObserverApp :
+ virtual public armarx::Application
+ {
+ void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
+ {
+ registry->addObject( Component::create<DummyUnitObserver>(properties) );
+ }
+ };
+}
+
+
+
diff --git a/source/RobotAPI/applications/DummyUnitObserver/main.cpp b/source/RobotAPI/applications/DummyUnitObserver/main.cpp
new file mode 100644
index 000000000..f33f71dbf
--- /dev/null
+++ b/source/RobotAPI/applications/DummyUnitObserver/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::DummyUnit
+ * @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 "DummyUnitObserverApp.h"
+#include <Core/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+ armarx::ApplicationPtr app = armarx::Application::createInstance<armarx::DummyUnitObserverApp>();
+ app->setName("DummyUnitObserver");
+
+ return app->main(argc, argv);
+}
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 194b47ee1..1b25210e2 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -9,6 +9,7 @@ set(SLICE_FILES
observers/KinematicUnitObserverInterface.ice
observers/PlatformUnitObserverInterface.ice
+ observers/DummyUnitObserverInterface.ice
robotstate/LinkedPoseBase.ice
robotstate/PoseBase.ice
diff --git a/source/RobotAPI/interface/observers/DummyUnitObserverInterface.ice b/source/RobotAPI/interface/observers/DummyUnitObserverInterface.ice
new file mode 100644
index 000000000..8ee86c6ff
--- /dev/null
+++ b/source/RobotAPI/interface/observers/DummyUnitObserverInterface.ice
@@ -0,0 +1,37 @@
+/*
+ * 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 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_CORE_DUMMY_UNIT_OBSERVER_SLICE_
+#define _ARMARX_CORE_DUMMY_UNIT_OBSERVER_SLICE_
+
+#include <RobotAPI/interface/units/DummyUnitInterface.ice>
+#include <Core/interface/observers/ObserverInterface.ice>
+
+module armarx
+{
+ interface DummyUnitObserverInterface extends ObserverInterface, DummyUnitListener
+ {
+ };
+};
+
+#endif
diff --git a/source/RobotAPI/interface/units/DummyUnitInterface.ice b/source/RobotAPI/interface/units/DummyUnitInterface.ice
index 71b89cae2..8e970cbb9 100644
--- a/source/RobotAPI/interface/units/DummyUnitInterface.ice
+++ b/source/RobotAPI/interface/units/DummyUnitInterface.ice
@@ -26,6 +26,7 @@
#include <RobotAPI/interface/units/UnitInterface.ice>
#include <Core/interface/observers/VariantBase.ice>
+#include <Core/interface/observers/ObserverInterface.ice>
/*
* The DummyUnit is a SensorActorUnit that is only implemented for documentation
diff --git a/source/RobotAPI/units/CMakeLists.txt b/source/RobotAPI/units/CMakeLists.txt
index 09c34d7f9..5aaba769d 100644
--- a/source/RobotAPI/units/CMakeLists.txt
+++ b/source/RobotAPI/units/CMakeLists.txt
@@ -48,6 +48,7 @@ set(LIB_HEADERS
PlatformUnitObserver.h
SensorActorUnit.h
DummyUnit.h
+ DummyUnitObserver.h
)
set(LIB_FILES
@@ -71,6 +72,7 @@ set(LIB_FILES
PlatformUnitObserver.cpp
SensorActorUnit.cpp
DummyUnit.cpp
+ DummyUnitObserver.cpp
)
armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/units/DummyUnit.cpp b/source/RobotAPI/units/DummyUnit.cpp
index 46e5ee14b..ff8abbfd4 100644
--- a/source/RobotAPI/units/DummyUnit.cpp
+++ b/source/RobotAPI/units/DummyUnit.cpp
@@ -29,12 +29,21 @@ void DummyUnit::onInitComponent()
{
period = getProperty<int>("ReportPeriod").getValue();
+ periodicValue = VariantPtr(new Variant(10));
+
offeringTopic("PeriodicDummyValue");
}
void DummyUnit::onConnectComponent()
{
listenerPrx = getTopic<DummyUnitListenerPrx>("PeriodicDummyValue");
+
+ if(periodicTask)
+ {
+ periodicTask->stop();
+ }
+ periodicTask = new PeriodicTask<DummyUnit>(this, &DummyUnit::reportValue, period, false, "DummyValueProducer");
+ periodicTask->start();
}
void DummyUnit::onExitComponent()
@@ -43,9 +52,15 @@ void DummyUnit::onExitComponent()
void DummyUnit::setPeriodicValue(const VariantBasePtr &value, const Ice::Current &c)
{
+ periodicValue = VariantPtr::dynamicCast(value);
}
PropertyDefinitionsPtr DummyUnit::createPropertyDefinitions()
{
return PropertyDefinitionsPtr(new DummyUnitPropertyDefinitions(getConfigIdentifier()));
}
+
+void DummyUnit::reportValue()
+{
+ listenerPrx->reportPeriodicValue(periodicValue);
+}
diff --git a/source/RobotAPI/units/DummyUnit.h b/source/RobotAPI/units/DummyUnit.h
index 687346939..2167a64d9 100644
--- a/source/RobotAPI/units/DummyUnit.h
+++ b/source/RobotAPI/units/DummyUnit.h
@@ -30,6 +30,7 @@
#include <Core/core/application/properties/Properties.h>
#include <Core/core/system/ImportExportComponent.h>
#include <Core/observers/variant/Variant.h>
+#include <Core/core/services/tasks/PeriodicTask.h>
#include <RobotAPI/interface/units/DummyUnitInterface.h>
@@ -62,10 +63,14 @@ namespace armarx
virtual PropertyDefinitionsPtr createPropertyDefinitions();
protected:
+ void reportValue();
+
DummyUnitListenerPrx listenerPrx;
+ PeriodicTask<DummyUnit>::pointer_type periodicTask;
+
int period;
- Variant value;
+ VariantPtr periodicValue;
};
}
diff --git a/source/RobotAPI/units/DummyUnitObserver.cpp b/source/RobotAPI/units/DummyUnitObserver.cpp
new file mode 100644
index 000000000..336703696
--- /dev/null
+++ b/source/RobotAPI/units/DummyUnitObserver.cpp
@@ -0,0 +1,47 @@
+/*
+ * 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 Peter Kaiser (peter dot kaiser at kit dot edu)
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "DummyUnitObserver.h"
+
+armarx::DummyUnitObserver::DummyUnitObserver()
+{
+}
+
+void armarx::DummyUnitObserver::onInitObserver()
+{
+ usingTopic("PeriodicDummyValue");
+}
+
+void armarx::DummyUnitObserver::onConnectObserver()
+{
+}
+
+void armarx::DummyUnitObserver::reportPeriodicValue(const armarx::VariantBasePtr &value, const Ice::Current &)
+{
+ ARMARX_INFO << VariantPtr::dynamicCast(value);
+}
+
+armarx::PropertyDefinitionsPtr armarx::DummyUnitObserver::createPropertyDefinitions()
+{
+ return armarx::PropertyDefinitionsPtr(new DummyUnitPropertyDefinitions(getConfigIdentifier()));
+}
diff --git a/source/RobotAPI/units/DummyUnitObserver.h b/source/RobotAPI/units/DummyUnitObserver.h
new file mode 100644
index 000000000..ca0f1f1f0
--- /dev/null
+++ b/source/RobotAPI/units/DummyUnitObserver.h
@@ -0,0 +1,61 @@
+/*
+ * 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 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_DUMMYUNIT_OBSERVER_H
+#define _ARMARX_ROBOTAPI_DUMMYUNIT_OBSERVER_H
+
+#include <RobotAPI/interface/observers/DummyUnitObserverInterface.h>
+#include <Core/observers/Observer.h>
+#include <Core/core/application/properties/Properties.h>
+
+namespace armarx
+{
+ class DummyUnitPropertyDefinitions : public ComponentPropertyDefinitions
+ {
+ public:
+ DummyUnitPropertyDefinitions(std::string prefix) :
+ ComponentPropertyDefinitions(prefix)
+ {
+ // No required properties
+ }
+ };
+
+ class DummyUnitObserver :
+ virtual public Observer,
+ virtual public DummyUnitObserverInterface
+ {
+ public:
+ DummyUnitObserver();
+
+ virtual std::string getDefaultName() const { return "DummyUnitObserver"; }
+ void onInitObserver();
+ void onConnectObserver();
+
+ void reportPeriodicValue(const VariantBasePtr &value, const ::Ice::Current& = ::Ice::Current());
+
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+ };
+}
+
+#endif
+
--
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