Units: Added DummyUnit as minimum working example for documentation

scenarios/CMakeLists.txt

 
-add_subdirectory(WeissHapticSensorsUnitTest)
+add_subdirectory(WeissHapticSensorsUnitTest)
\ No newline at end of file
+add_subdirectory(DummyTest)
\ No newline at end of file

scenarios/DummyTest/CMakeLists.txt

+set(SCENARIO_COMPONENTS
+    DummyUnitApp
+    )
+
+# optional 3rd parameter: "path/to/global/config.cfg"
+armarx_scenario("DummyUnitTest" "${SCENARIO_COMPONENTS}")

source/RobotAPI/applications/CMakeLists.txt

@@ -20,3 +20,4 @@ add_subdirectory(PlatformUnitSimulation)
 add_subdirectory(PlatformUnitObserver)
 add_subdirectory(RobotStateComponent)
 add_subdirectory(RobotStateObserver)
+add_subdirectory(DummyUnit)
\ No newline at end of file

source/RobotAPI/applications/DummyUnit/CMakeLists.txt

+armarx_component_set_name("DummyUnitApp")
+
+set(COMPONENT_LIBS RobotAPIInterfaces RobotAPIUnits ArmarXCore)
+set(EXE_SOURCE main.cpp DummyUnitApp.h)
+
+armarx_add_component_executable("${EXE_SOURCE}")

source/RobotAPI/applications/DummyUnit/DummyUnitApp.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
+ */
+
+#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

source/RobotAPI/applications/DummyUnit/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::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);
+}

source/RobotAPI/interface/CMakeLists.txt

@@ -26,6 +26,7 @@ set(SLICE_FILES
 	units/TCPControlUnit.ice
 	units/TCPMoverUnitInterface.ice
 	units/UnitInterface.ice
+	units/DummyUnitInterface.ice
 )
 
 # generate the interface library

source/RobotAPI/interface/units/DummyUnitInterface.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    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>
+
+/*
+ * 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

source/RobotAPI/units/CMakeLists.txt

@@ -46,6 +46,7 @@ set(LIB_HEADERS
     KinematicUnitObserver.h
     PlatformUnitObserver.h
     SensorActorUnit.h
+    DummyUnit.h
 )
 
 set(LIB_FILES
@@ -67,6 +68,7 @@ set(LIB_FILES
     KinematicUnitObserver.cpp
     PlatformUnitObserver.cpp
     SensorActorUnit.cpp
+    DummyUnit.cpp
 )
 
 armarx_add_library("${LIB_NAME}" "${LIB_VERSION}" "${LIB_SOVERSION}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")

source/RobotAPI/units/DummyUnit.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 "DummyUnit.h"
+
+using namespace armarx;
+
+void DummyUnit::onInitComponent()
+{
+    period = getProperty<int>("ReportPeriod").getValue();
+
+    offeringTopic("PeriodicDummyValue");
+}
+
+void DummyUnit::onConnectComponent()
+{
+    listenerPrx = getTopic<DummyUnitListenerPrx>("PeriodicDummyValue");
+}
+
+void DummyUnit::onExitComponent()
+{
+}
+
+void DummyUnit::setPeriodicValue(const VariantBasePtr &value, const Ice::Current &c)
+{
+}
+
+PropertyDefinitionsPtr DummyUnit::createPropertyDefinitions()
+{
+    return PropertyDefinitionsPtr(new DummyUnitPropertyDefinitions(getConfigIdentifier()));
+}

source/RobotAPI/units/DummyUnit.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_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 <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:
+        DummyUnitListenerPrx listenerPrx;
+
+        int period;
+        Variant value;
+    };
+}
+
+#endif
+