diff --git a/scenarios/CMakeLists.txt b/scenarios/CMakeLists.txt
index 80acd6c86f7b5badbe08ddedcf909e44e33f9909..c232f087b6be52dd91b71f6ae3d072ebb9b8530d 100644
--- a/scenarios/CMakeLists.txt
+++ b/scenarios/CMakeLists.txt
@@ -1,3 +1,2 @@
add_subdirectory(WeissHapticSensorsUnitTest)
-add_subdirectory(DummyTest)
\ No newline at end of file
diff --git a/scenarios/DummyTest/CMakeLists.txt b/scenarios/DummyTest/CMakeLists.txt
deleted file mode 100644
index 4cee04548d1b8d77f51dfb70ae811e866bfcd781..0000000000000000000000000000000000000000
--- a/scenarios/DummyTest/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-set(SCENARIO_COMPONENTS
- DummyUnitApp
- DummyUnitObserver
- )
-
-# optional 3rd parameter: "path/to/global/config.cfg"
-armarx_scenario("DummyUnitTest" "${SCENARIO_COMPONENTS}")
diff --git a/scenarios/DummyTest/config/DummyUnitApp.cfg b/scenarios/DummyTest/config/DummyUnitApp.cfg
deleted file mode 100644
index e0b8b5606d5015130fc1249a2b863cbdc07269cd..0000000000000000000000000000000000000000
--- a/scenarios/DummyTest/config/DummyUnitApp.cfg
+++ /dev/null
@@ -1,83 +0,0 @@
-# ==================================================================
-# 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
deleted file mode 100644
index 5994f9f5efb45b0c65fca75687e0f99d23404d7f..0000000000000000000000000000000000000000
--- a/scenarios/DummyTest/config/DummyUnitObserver.cfg
+++ /dev/null
@@ -1,83 +0,0 @@
-# ==================================================================
-# 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 9c5c39bca3a4918451d5b3194d34df9dfb0a5a6f..22b602a95a1b56abc243668df62037f66548a89d 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -21,6 +21,4 @@ add_subdirectory(PlatformUnitObserver)
add_subdirectory(RobotStateComponent)
add_subdirectory(RobotStateObserver)
add_subdirectory(HandUnitObserver)
-add_subdirectory(DummyUnit)
-add_subdirectory(DummyUnitObserver)
diff --git a/source/RobotAPI/applications/DummyUnit/CMakeLists.txt b/source/RobotAPI/applications/DummyUnit/CMakeLists.txt
deleted file mode 100644
index 1951cd058c6c9ba00fd8580b0a2147818186e621..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/DummyUnit/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-armarx_component_set_name("DummyUnitApp")
-
-set(COMPONENT_LIBS RobotAPIInterfaces RobotAPIUnits ArmarXCore)
-set(EXE_SOURCE main.cpp DummyUnitApp.h)
-
-armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/DummyUnit/DummyUnitApp.h b/source/RobotAPI/applications/DummyUnit/DummyUnitApp.h
deleted file mode 100644
index cfd6861b99233a61b97091dea5db7517aaa06bf1..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/DummyUnit/DummyUnitApp.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*
- * 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
- */
-
-#ifndef _ARMARX_APPLICATION_RobotAPI_DummyUnit_H
-#define _ARMARX_APPLICATION_RobotAPI_DummyUnit_H
-
-#include <Core/core/application/Application.h>
-#include <RobotAPI/units/DummyUnit.h>
-
-namespace armarx
-{
- class DummyUnitApp :
- virtual public armarx::Application
- {
- void setup(const ManagedIceObjectRegistryInterfacePtr& registry, Ice::PropertiesPtr properties)
- {
- registry->addObject(Component::create<DummyUnit>(properties));
- }
- };
-}
-
-#endif
diff --git a/source/RobotAPI/applications/DummyUnit/main.cpp b/source/RobotAPI/applications/DummyUnit/main.cpp
deleted file mode 100644
index 56c78e7f2a620e5223afc0e507833d2c54b03e7e..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/DummyUnit/main.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * 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::DummyUnitApp
- * @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 "DummyUnitApp.h"
-
-int main(int argc, char* argv[])
-{
- armarx::ApplicationPtr app = armarx::Application::createInstance <armarx::DummyUnitApp>();
- app->setName("DummyUnit");
-
- return app->main(argc, argv);
-}
diff --git a/source/RobotAPI/applications/DummyUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/DummyUnitObserver/CMakeLists.txt
deleted file mode 100644
index 5ecfd42e2d9fa7466107b099bf4cc5c444ff3969..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/DummyUnitObserver/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-
-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
deleted file mode 100644
index 27d9c4cd944db121e1fe375c2633cb7953c37f01..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/DummyUnitObserver/DummyUnitObserverApp.h
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
- * 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
deleted file mode 100644
index f33f71dbf87c88b7cf6de5db1e8646854615da74..0000000000000000000000000000000000000000
--- a/source/RobotAPI/applications/DummyUnitObserver/main.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-/*
- * 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 1b25210e2c9398480c56054ef1369e99c74906bf..4fa3f1ba89d44f53b52ddfceee7786afec483ca9 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -9,7 +9,6 @@ set(SLICE_FILES
observers/KinematicUnitObserverInterface.ice
observers/PlatformUnitObserverInterface.ice
- observers/DummyUnitObserverInterface.ice
robotstate/LinkedPoseBase.ice
robotstate/PoseBase.ice
@@ -27,7 +26,6 @@ set(SLICE_FILES
units/TCPControlUnit.ice
units/TCPMoverUnitInterface.ice
units/UnitInterface.ice
- units/DummyUnitInterface.ice
)
# generate the interface library
diff --git a/source/RobotAPI/interface/observers/DummyUnitObserverInterface.ice b/source/RobotAPI/interface/observers/DummyUnitObserverInterface.ice
deleted file mode 100644
index 8ee86c6ff6f005d7f668b6dde1542073524012e4..0000000000000000000000000000000000000000
--- a/source/RobotAPI/interface/observers/DummyUnitObserverInterface.ice
+++ /dev/null
@@ -1,37 +0,0 @@
-/*
- * 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
deleted file mode 100644
index 8e970cbb9d3c0d7e03fe603aea8cecd4c52accb0..0000000000000000000000000000000000000000
--- a/source/RobotAPI/interface/units/DummyUnitInterface.ice
+++ /dev/null
@@ -1,48 +0,0 @@
-/*
- * 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::RobotAPI
- * @author Peter Kaiser (peter dot kaiser at kit dot edu)
- * @copyright 2014
- * @license http://www.gnu.org/licenses/gpl.txt
- * GNU General Public License
- */
-
-#ifndef _ARMARX_CORE_DUMMYUNIT_SLICE_
-#define _ARMARX_CORE_DUMMYUNIT_SLICE_
-
-#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
- * purposes. It is designed to be a minimum working example and has no real use.
- */
-module armarx
-{
- interface DummyUnitInterface extends SensorActorUnitInterface
- {
- void setPeriodicValue(VariantBase value);
- };
-
- interface DummyUnitListener
- {
- void reportPeriodicValue(VariantBase value);
- };
-};
-
-#endif
diff --git a/source/RobotAPI/units/CMakeLists.txt b/source/RobotAPI/units/CMakeLists.txt
index 5aaba769d858950b05b961ab30dd2bb1b1ee19ba..0164bfeccee201feabbaae3a2da9ef9e4ddb8ec7 100644
--- a/source/RobotAPI/units/CMakeLists.txt
+++ b/source/RobotAPI/units/CMakeLists.txt
@@ -47,8 +47,6 @@ set(LIB_HEADERS
KinematicUnitObserver.h
PlatformUnitObserver.h
SensorActorUnit.h
- DummyUnit.h
- DummyUnitObserver.h
)
set(LIB_FILES
@@ -71,8 +69,6 @@ set(LIB_FILES
KinematicUnitObserver.cpp
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
deleted file mode 100644
index ff8abbfd431aaee7e1a17b0f24dc5247c109a16d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/units/DummyUnit.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
- * 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 "DummyUnit.h"
-
-using namespace armarx;
-
-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()
-{
-}
-
-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
deleted file mode 100644
index 2167a64d909d2190fd49ff1a663cbf39719b50fe..0000000000000000000000000000000000000000
--- a/source/RobotAPI/units/DummyUnit.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
- * 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_COMPONENT_DUMMY_UNIT_H
-#define _ARMARX_COMPONENT_DUMMY_UNIT_H
-
-#include <RobotAPI/units/SensorActorUnit.h>
-
-#include <Core/core/Component.h>
-#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>
-
-namespace armarx
-{
- class DummyUnitPropertyDefinitions:
- public ComponentPropertyDefinitions
- {
- public:
- DummyUnitPropertyDefinitions(std::string prefix):
- ComponentPropertyDefinitions(prefix)
- {
- defineRequiredProperty<int>("ReportPeriod","The unit's reporting period in ms");
- }
- };
-
- class DummyUnit :
- virtual public DummyUnitInterface,
- virtual public SensorActorUnit
- {
- public:
- virtual std::string getDefaultName() const { return "DummyUnit"; }
-
- virtual void onInitComponent();
- virtual void onConnectComponent();
- virtual void onExitComponent();
-
- virtual void setPeriodicValue(const VariantBasePtr &value, const Ice::Current& c = ::Ice::Current());
-
- virtual PropertyDefinitionsPtr createPropertyDefinitions();
-
- protected:
- void reportValue();
-
- DummyUnitListenerPrx listenerPrx;
-
- PeriodicTask<DummyUnit>::pointer_type periodicTask;
-
- int period;
- VariantPtr periodicValue;
- };
-}
-
-#endif
-
diff --git a/source/RobotAPI/units/DummyUnitObserver.cpp b/source/RobotAPI/units/DummyUnitObserver.cpp
deleted file mode 100644
index 33670369632fab3365fe7ccd667503024466d58d..0000000000000000000000000000000000000000
--- a/source/RobotAPI/units/DummyUnitObserver.cpp
+++ /dev/null
@@ -1,47 +0,0 @@
-/*
- * 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
deleted file mode 100644
index ca0f1f1f0962fe309a778dd80c742819de3f798c..0000000000000000000000000000000000000000
--- a/source/RobotAPI/units/DummyUnitObserver.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
- * 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
-