Added DummyUnit and DummyObserver as simple examples for the documentation

scenarios/DummyTest/CMakeLists.txt

 set(SCENARIO_COMPONENTS
     DummyUnitApp
+    DummyUnitObserver
     )
 
 # optional 3rd parameter: "path/to/global/config.cfg"

scenarios/DummyTest/config/DummyUnitApp.cfg

+# ==================================================================
+# 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 = ""
+
+
+

scenarios/DummyTest/config/DummyUnitObserver.cfg

+# ==================================================================
+# 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 = ""
+
+
+

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)
+

source/RobotAPI/applications/DummyUnitObserver/CMakeLists.txt

+
+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}")

source/RobotAPI/applications/DummyUnitObserver/DummyUnitObserverApp.h

+/*
+ * 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) );
+        }
+    };
+}
+
+
+

source/RobotAPI/applications/DummyUnitObserver/main.cpp

+/*
+ * 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);
+}

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

source/RobotAPI/interface/observers/DummyUnitObserverInterface.ice

+/*
+ * 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

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

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}")

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);
+}

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;
     };
 }
 

source/RobotAPI/units/DummyUnitObserver.cpp

+/*
+ * 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()));
+}

source/RobotAPI/units/DummyUnitObserver.h

+/*
+ * 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
+