From b1c44ff1d3499d21d74c972438168f563bf71b79 Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Mon, 18 May 2020 14:52:39 +0200
Subject: [PATCH] added component plugins
---
.../RobotAPIComponentPlugins/CMakeLists.txt | 14 +++++
...artesianPositionControlComponentPlugin.cpp | 53 +++++++++++++++++
.../CartesianPositionControlComponentPlugin.h | 58 ++++++++++++++++++
.../GraspCandidateObserverComponentPlugin.cpp | 54 +++++++++++++++++
.../GraspCandidateObserverComponentPlugin.h | 58 ++++++++++++++++++
.../KinematicUnitComponentPlugin.cpp | 56 ++++++++++++++++++
.../KinematicUnitComponentPlugin.h | 59 +++++++++++++++++++
.../PlatformUnitComponentPlugin.cpp | 53 +++++++++++++++++
.../PlatformUnitComponentPlugin.h | 58 ++++++++++++++++++
.../RobotStateComponentPlugin.cpp | 10 ++++
.../RobotStateComponentPlugin.h | 5 ++
.../RobotUnitComponentPlugin.cpp | 53 +++++++++++++++++
.../RobotUnitComponentPlugin.h | 58 ++++++++++++++++++
.../RobotUnitObserverComponentPlugin.cpp | 54 +++++++++++++++++
.../RobotUnitObserverComponentPlugin.h | 58 ++++++++++++++++++
.../TrajectoryPlayerComponentPlugin.cpp | 54 +++++++++++++++++
.../TrajectoryPlayerComponentPlugin.h | 58 ++++++++++++++++++
17 files changed, 813 insertions(+)
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/CartesianPositionControlComponentPlugin.cpp
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/CartesianPositionControlComponentPlugin.h
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/GraspCandidateObserverComponentPlugin.cpp
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/GraspCandidateObserverComponentPlugin.h
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/KinematicUnitComponentPlugin.cpp
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/KinematicUnitComponentPlugin.h
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/PlatformUnitComponentPlugin.cpp
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/PlatformUnitComponentPlugin.h
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitObserverComponentPlugin.cpp
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitObserverComponentPlugin.h
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/TrajectoryPlayerComponentPlugin.cpp
create mode 100644 source/RobotAPI/libraries/RobotAPIComponentPlugins/TrajectoryPlayerComponentPlugin.h
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt b/source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt
index 1292e78fa..0be4a3ac9 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/CMakeLists.txt
@@ -13,11 +13,25 @@ set(LIB_FILES
RobotStateComponentPlugin.cpp
DebugDrawerHelperComponentPlugin.cpp
ArVizComponentPlugin.cpp
+ GraspCandidateObserverComponentPlugin.cpp
+ PlatformUnitComponentPlugin.cpp
+ RobotUnitComponentPlugin.cpp
+ RobotUnitObserverComponentPlugin.cpp
+ KinematicUnitComponentPlugin.cpp
+ TrajectoryPlayerComponentPlugin.cpp
+ CartesianPositionControlComponentPlugin.cpp
)
set(LIB_HEADERS
RobotStateComponentPlugin.h
DebugDrawerHelperComponentPlugin.h
ArVizComponentPlugin.h
+ GraspCandidateObserverComponentPlugin.h
+ PlatformUnitComponentPlugin.h
+ RobotUnitComponentPlugin.h
+ RobotUnitObserverComponentPlugin.h
+ KinematicUnitComponentPlugin.h
+ TrajectoryPlayerComponentPlugin.h
+ CartesianPositionControlComponentPlugin.h
)
armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/CartesianPositionControlComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/CartesianPositionControlComponentPlugin.cpp
new file mode 100644
index 000000000..6b403e45c
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/CartesianPositionControlComponentPlugin.cpp
@@ -0,0 +1,53 @@
+#include "CartesianPositionControlComponentPlugin.h"
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ void CartesianPositionControlComponentPlugin::preOnInitComponent()
+ {
+ parent<Component>().usingProxyFromProperty(PROPERTY_NAME);
+ }
+
+ void CartesianPositionControlComponentPlugin::preOnConnectComponent()
+ {
+ parent<Component>().getProxyFromProperty(_cartesianPositionControl, PROPERTY_NAME);
+ }
+
+ void CartesianPositionControlComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+ {
+ if (!properties->hasDefinition(PROPERTY_NAME))
+ {
+ properties->defineRequiredProperty<std::string>(
+ PROPERTY_NAME,
+ "Name of the CartesianPositionControl");
+ }
+ }
+
+ CartesianPositionControlInterfacePrx CartesianPositionControlComponentPlugin::getCartesianPositionControl()
+ {
+ return _cartesianPositionControl;
+ }
+
+
+ }
+}
+
+namespace armarx
+{
+
+ CartesianPositionControlComponentPluginUser::CartesianPositionControlComponentPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+ CartesianPositionControlInterfacePrx CartesianPositionControlComponentPluginUser::getCartesianPositionControl()
+ {
+ return plugin->getCartesianPositionControl();
+ }
+
+
+}
+
+
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/CartesianPositionControlComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/CartesianPositionControlComponentPlugin.h
new file mode 100644
index 000000000..0d53885cc
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/CartesianPositionControlComponentPlugin.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <RobotAPI/interface/components/CartesianPositionControlInterface.h>
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ class CartesianPositionControlComponentPlugin : public ComponentPlugin
+ {
+ public:
+ using ComponentPlugin::ComponentPlugin;
+
+ void preOnInitComponent() override;
+
+ void preOnConnectComponent() override;
+
+ void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ CartesianPositionControlInterfacePrx getCartesianPositionControl();
+
+ private:
+ static constexpr const char* PROPERTY_NAME = "CartesianPositionControlName";
+ CartesianPositionControlInterfacePrx _cartesianPositionControl;
+ };
+
+ }
+}
+
+namespace armarx
+{
+ /**
+ * @brief Provides a ready-to-use CartesianPositionControl.
+ */
+ class CartesianPositionControlComponentPluginUser : virtual public ManagedIceObject
+ {
+ public:
+ CartesianPositionControlComponentPluginUser();
+ CartesianPositionControlInterfacePrx getCartesianPositionControl();
+
+ private:
+ armarx::plugins::CartesianPositionControlComponentPlugin* plugin = nullptr;
+ };
+
+}
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+ // Legacy typedef.
+ using CartesianPositionControlComponentPluginUser = armarx::CartesianPositionControlComponentPluginUser;
+ }
+}
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/GraspCandidateObserverComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/GraspCandidateObserverComponentPlugin.cpp
new file mode 100644
index 000000000..3e99ccfb4
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/GraspCandidateObserverComponentPlugin.cpp
@@ -0,0 +1,54 @@
+#include "GraspCandidateObserverComponentPlugin.h"
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ void GraspCandidateObserverComponentPlugin::preOnInitComponent()
+ {
+ parent<Component>().usingProxyFromProperty(PROPERTY_NAME);
+ }
+
+ void GraspCandidateObserverComponentPlugin::preOnConnectComponent()
+ {
+ parent<Component>().getProxyFromProperty(_graspCandidateObserver, PROPERTY_NAME);
+ }
+
+ void GraspCandidateObserverComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+ {
+ if (!properties->hasDefinition(PROPERTY_NAME))
+ {
+ properties->defineOptionalProperty<std::string>(
+ PROPERTY_NAME,
+ "GraspCandidateObserver",
+ "Name of the GraspCandidateObserver");
+ }
+ }
+
+ grasping::GraspCandidateObserverInterfacePrx GraspCandidateObserverComponentPlugin::getGraspCandidateObserver()
+ {
+ return _graspCandidateObserver;
+ }
+
+
+ }
+}
+
+namespace armarx
+{
+
+ GraspCandidateObserverComponentPluginUser::GraspCandidateObserverComponentPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+ grasping::GraspCandidateObserverInterfacePrx GraspCandidateObserverComponentPluginUser::getGraspCandidateObserver()
+ {
+ return plugin->getGraspCandidateObserver();
+ }
+
+
+}
+
+
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/GraspCandidateObserverComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/GraspCandidateObserverComponentPlugin.h
new file mode 100644
index 000000000..e15688a68
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/GraspCandidateObserverComponentPlugin.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <RobotAPI/interface/observers/GraspCandidateObserverInterface.h>
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ class GraspCandidateObserverComponentPlugin : public ComponentPlugin
+ {
+ public:
+ using ComponentPlugin::ComponentPlugin;
+
+ void preOnInitComponent() override;
+
+ void preOnConnectComponent() override;
+
+ void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ grasping::GraspCandidateObserverInterfacePrx getGraspCandidateObserver();
+
+ private:
+ static constexpr const char* PROPERTY_NAME = "GraspCandidateObserverName";
+ grasping::GraspCandidateObserverInterfacePrx _graspCandidateObserver;
+ };
+
+ }
+}
+
+namespace armarx
+{
+ /**
+ * @brief Provides a ready-to-use GraspCandidateObserver.
+ */
+ class GraspCandidateObserverComponentPluginUser : virtual public ManagedIceObject
+ {
+ public:
+ GraspCandidateObserverComponentPluginUser();
+ grasping::GraspCandidateObserverInterfacePrx getGraspCandidateObserver();
+
+ private:
+ armarx::plugins::GraspCandidateObserverComponentPlugin* plugin = nullptr;
+ };
+
+}
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+ // Legacy typedef.
+ using GraspCandidateObserverComponentPluginUser = armarx::GraspCandidateObserverComponentPluginUser;
+ }
+}
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/KinematicUnitComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/KinematicUnitComponentPlugin.cpp
new file mode 100644
index 000000000..ba8ba16d2
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/KinematicUnitComponentPlugin.cpp
@@ -0,0 +1,56 @@
+#include "KinematicUnitComponentPlugin.h"
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ void KinematicUnitComponentPlugin::preOnInitComponent()
+ {
+ parent<Component>().usingProxyFromProperty(PROPERTY_NAME);
+ }
+
+ void KinematicUnitComponentPlugin::preOnConnectComponent()
+ {
+ parent<Component>().getProxyFromProperty(_kinematicUnit, PROPERTY_NAME);
+ }
+
+ void KinematicUnitComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+ {
+ if (!properties->hasDefinition(PROPERTY_NAME))
+ {
+ properties->defineRequiredProperty<std::string>(
+ PROPERTY_NAME,
+ "Name of the KinematicUnit");
+ }
+ }
+
+ KinematicUnitInterfacePrx KinematicUnitComponentPlugin::getKinematicUnit()
+ {
+ return _kinematicUnit;
+ }
+
+
+ }
+
+}
+
+namespace armarx
+{
+
+ KinematicUnitComponentPluginUser::KinematicUnitComponentPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+ KinematicUnitInterfacePrx KinematicUnitComponentPluginUser::getKinematicUnit()
+ {
+ return plugin->getKinematicUnit();
+ }
+
+
+
+
+}
+
+
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/KinematicUnitComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/KinematicUnitComponentPlugin.h
new file mode 100644
index 000000000..e3b4062b5
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/KinematicUnitComponentPlugin.h
@@ -0,0 +1,59 @@
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <RobotAPI/interface/units/KinematicUnitInterface.h>
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ class KinematicUnitComponentPlugin : public ComponentPlugin
+ {
+ public:
+ using ComponentPlugin::ComponentPlugin;
+
+ void preOnInitComponent() override;
+
+ void preOnConnectComponent() override;
+
+ void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ KinematicUnitInterfacePrx getKinematicUnit();
+
+ private:
+ static constexpr const char* PROPERTY_NAME = "KinematicUnitName";
+ KinematicUnitInterfacePrx _kinematicUnit;
+ };
+
+ }
+}
+
+namespace armarx
+{
+ /**
+ * @brief Provides a ready-to-use KinematicUnit.
+ */
+ class KinematicUnitComponentPluginUser : virtual public ManagedIceObject
+ {
+ public:
+ KinematicUnitComponentPluginUser();
+ KinematicUnitInterfacePrx getKinematicUnit();
+
+ private:
+ armarx::plugins::KinematicUnitComponentPlugin* plugin = nullptr;
+ };
+
+
+}
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+ // Legacy typedef.
+ using KinematicUnitComponentPluginUser = armarx::KinematicUnitComponentPluginUser;
+ }
+}
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/PlatformUnitComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/PlatformUnitComponentPlugin.cpp
new file mode 100644
index 000000000..f40b6cd34
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/PlatformUnitComponentPlugin.cpp
@@ -0,0 +1,53 @@
+#include "PlatformUnitComponentPlugin.h"
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ void PlatformUnitComponentPlugin::preOnInitComponent()
+ {
+ parent<Component>().usingProxyFromProperty(PROPERTY_NAME);
+ }
+
+ void PlatformUnitComponentPlugin::preOnConnectComponent()
+ {
+ parent<Component>().getProxyFromProperty(_platformUnit, PROPERTY_NAME);
+ }
+
+ void PlatformUnitComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+ {
+ if (!properties->hasDefinition(PROPERTY_NAME))
+ {
+ properties->defineRequiredProperty<std::string>(
+ PROPERTY_NAME,
+ "Name of the PlatformUnit");
+ }
+ }
+
+ PlatformUnitInterfacePrx PlatformUnitComponentPlugin::getPlatformUnit()
+ {
+ return _platformUnit;
+ }
+
+
+ }
+}
+
+namespace armarx
+{
+
+ PlatformUnitComponentPluginUser::PlatformUnitComponentPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+ PlatformUnitInterfacePrx PlatformUnitComponentPluginUser::getPlatformUnit()
+ {
+ return plugin->getPlatformUnit();
+ }
+
+
+}
+
+
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/PlatformUnitComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/PlatformUnitComponentPlugin.h
new file mode 100644
index 000000000..d2cec0f45
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/PlatformUnitComponentPlugin.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <RobotAPI/interface/units/PlatformUnitInterface.h>
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ class PlatformUnitComponentPlugin : public ComponentPlugin
+ {
+ public:
+ using ComponentPlugin::ComponentPlugin;
+
+ void preOnInitComponent() override;
+
+ void preOnConnectComponent() override;
+
+ void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ PlatformUnitInterfacePrx getPlatformUnit();
+
+ private:
+ static constexpr const char* PROPERTY_NAME = "PlatformUnitName";
+ PlatformUnitInterfacePrx _platformUnit;
+ };
+
+ }
+}
+
+namespace armarx
+{
+ /**
+ * @brief Provides a ready-to-use PlatformUnit.
+ */
+ class PlatformUnitComponentPluginUser : virtual public ManagedIceObject
+ {
+ public:
+ PlatformUnitComponentPluginUser();
+ PlatformUnitInterfacePrx getPlatformUnit();
+
+ private:
+ armarx::plugins::PlatformUnitComponentPlugin* plugin = nullptr;
+ };
+
+}
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+ // Legacy typedef.
+ using PlatformUnitComponentPluginUser = armarx::PlatformUnitComponentPluginUser;
+ }
+}
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp
index 500ac2a18..687092e13 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp
@@ -130,6 +130,11 @@ namespace armarx::plugins
}
}
+ RobotStateComponentInterfacePrx RobotStateComponentPlugin::getRobotStateComponent()
+ {
+ return _robotStateComponent;
+ }
+
bool RobotStateComponentPlugin::synchronizeLocalClone(const VirtualRobot::RobotPtr& robot) const
{
return RemoteRobot::synchronizeLocalClone(robot, _robotStateComponent);
@@ -295,6 +300,11 @@ namespace armarx
getRobotStateComponentPlugin().setRobotRNSAndNode(id, rnsName, nodeName);
}
+ RobotStateComponentInterfacePrx RobotStateComponentPluginUser::getRobotStateComponent()
+ {
+ return getRobotStateComponentPlugin().getRobotStateComponent();
+ }
+
bool RobotStateComponentPluginUser::synchronizeLocalClone(const VirtualRobot::RobotPtr& robot) const
{
return getRobotStateComponentPlugin().synchronizeLocalClone(robot);
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h
index 846de6628..0f2bb620c 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h
@@ -82,6 +82,8 @@ namespace armarx::plugins
VirtualRobot::RobotPtr getRobot(const std::string& id) const;
RobotData getRobotData(const std::string& id) const;
void setRobotRNSAndNode(const std::string& id, const std::string& rnsName, const std::string& nodeName);
+
+ RobotStateComponentInterfacePrx getRobotStateComponent();
//sync
public:
bool synchronizeLocalClone(const VirtualRobot::RobotPtr& robot) const;
@@ -184,6 +186,9 @@ namespace armarx
VirtualRobot::RobotPtr getRobot(const std::string& id) const;
RobotStateComponentPlugin::RobotData getRobotData(const std::string& id) const;
void setRobotRNSAndNode(const std::string& id, const std::string& rnsName, const std::string& nodeName);
+
+ RobotStateComponentInterfacePrx getRobotStateComponent();
+
//sync
public:
bool synchronizeLocalClone(const VirtualRobot::RobotPtr& robot) const;
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
new file mode 100644
index 000000000..383de616a
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp
@@ -0,0 +1,53 @@
+#include "RobotUnitComponentPlugin.h"
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ void RobotUnitComponentPlugin::preOnInitComponent()
+ {
+ parent<Component>().usingProxyFromProperty(PROPERTY_NAME);
+ }
+
+ void RobotUnitComponentPlugin::preOnConnectComponent()
+ {
+ parent<Component>().getProxyFromProperty(_robotUnit, PROPERTY_NAME);
+ }
+
+ void RobotUnitComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+ {
+ if (!properties->hasDefinition(PROPERTY_NAME))
+ {
+ properties->defineRequiredProperty<std::string>(
+ PROPERTY_NAME,
+ "Name of the RobotUnit");
+ }
+ }
+
+ RobotUnitInterfacePrx RobotUnitComponentPlugin::getRobotUnit()
+ {
+ return _robotUnit;
+ }
+
+
+ }
+}
+
+namespace armarx
+{
+
+ RobotUnitComponentPluginUser::RobotUnitComponentPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+ RobotUnitInterfacePrx RobotUnitComponentPluginUser::getRobotUnit()
+ {
+ return plugin->getRobotUnit();
+ }
+
+
+}
+
+
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
new file mode 100644
index 000000000..4dc53dcb9
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h>
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ class RobotUnitComponentPlugin : public ComponentPlugin
+ {
+ public:
+ using ComponentPlugin::ComponentPlugin;
+
+ void preOnInitComponent() override;
+
+ void preOnConnectComponent() override;
+
+ void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ RobotUnitInterfacePrx getRobotUnit();
+
+ private:
+ static constexpr const char* PROPERTY_NAME = "RobotUnitName";
+ RobotUnitInterfacePrx _robotUnit;
+ };
+
+ }
+}
+
+namespace armarx
+{
+ /**
+ * @brief Provides a ready-to-use RobotUnit.
+ */
+ class RobotUnitComponentPluginUser : virtual public ManagedIceObject
+ {
+ public:
+ RobotUnitComponentPluginUser();
+ RobotUnitInterfacePrx getRobotUnit();
+
+ private:
+ armarx::plugins::RobotUnitComponentPlugin* plugin = nullptr;
+ };
+
+}
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+ // Legacy typedef.
+ using RobotUnitComponentPluginUser = armarx::RobotUnitComponentPluginUser;
+ }
+}
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitObserverComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitObserverComponentPlugin.cpp
new file mode 100644
index 000000000..284533cf1
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitObserverComponentPlugin.cpp
@@ -0,0 +1,54 @@
+#include "RobotUnitObserverComponentPlugin.h"
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ void RobotUnitObserverComponentPlugin::preOnInitComponent()
+ {
+ parent<Component>().usingProxyFromProperty(PROPERTY_NAME);
+ }
+
+ void RobotUnitObserverComponentPlugin::preOnConnectComponent()
+ {
+ parent<Component>().getProxyFromProperty(_robotUnitObserver, PROPERTY_NAME);
+ }
+
+ void RobotUnitObserverComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+ {
+ if (!properties->hasDefinition(PROPERTY_NAME))
+ {
+ properties->defineOptionalProperty<std::string>(
+ PROPERTY_NAME,
+ "RobotUnitObserver",
+ "Name of the RobotUnitObserver");
+ }
+ }
+
+ ObserverInterfacePrx RobotUnitObserverComponentPlugin::getRobotUnitObserver()
+ {
+ return _robotUnitObserver;
+ }
+
+
+ }
+}
+
+namespace armarx
+{
+
+ RobotUnitObserverComponentPluginUser::RobotUnitObserverComponentPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+ ObserverInterfacePrx RobotUnitObserverComponentPluginUser::getRobotUnitObserver()
+ {
+ return plugin->getRobotUnitObserver();
+ }
+
+
+}
+
+
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitObserverComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitObserverComponentPlugin.h
new file mode 100644
index 000000000..0ebeff910
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitObserverComponentPlugin.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ class RobotUnitObserverComponentPlugin : public ComponentPlugin
+ {
+ public:
+ using ComponentPlugin::ComponentPlugin;
+
+ void preOnInitComponent() override;
+
+ void preOnConnectComponent() override;
+
+ void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ ObserverInterfacePrx getRobotUnitObserver();
+
+ private:
+ static constexpr const char* PROPERTY_NAME = "RobotUnitObserverName";
+ ObserverInterfacePrx _robotUnitObserver;
+ };
+
+ }
+}
+
+namespace armarx
+{
+ /**
+ * @brief Provides a ready-to-use RobotUnitObserver.
+ */
+ class RobotUnitObserverComponentPluginUser : virtual public ManagedIceObject
+ {
+ public:
+ RobotUnitObserverComponentPluginUser();
+ ObserverInterfacePrx getRobotUnitObserver();
+
+ private:
+ armarx::plugins::RobotUnitObserverComponentPlugin* plugin = nullptr;
+ };
+
+}
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+ // Legacy typedef.
+ using RobotUnitObserverComponentPluginUser = armarx::RobotUnitObserverComponentPluginUser;
+ }
+}
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/TrajectoryPlayerComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/TrajectoryPlayerComponentPlugin.cpp
new file mode 100644
index 000000000..1de30ae07
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/TrajectoryPlayerComponentPlugin.cpp
@@ -0,0 +1,54 @@
+#include "TrajectoryPlayerComponentPlugin.h"
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ void TrajectoryPlayerComponentPlugin::preOnInitComponent()
+ {
+ parent<Component>().usingProxyFromProperty(PROPERTY_NAME);
+ }
+
+ void TrajectoryPlayerComponentPlugin::preOnConnectComponent()
+ {
+ parent<Component>().getProxyFromProperty(_trajectoryPlayer, PROPERTY_NAME);
+ }
+
+ void TrajectoryPlayerComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+ {
+ if (!properties->hasDefinition(PROPERTY_NAME))
+ {
+ properties->defineOptionalProperty<std::string>(
+ PROPERTY_NAME,
+ "TrajectoryPlayer",
+ "Name of the TrajectoryPlayer");
+ }
+ }
+
+ TrajectoryPlayerInterfacePrx TrajectoryPlayerComponentPlugin::getTrajectoryPlayer()
+ {
+ return _trajectoryPlayer;
+ }
+
+
+ }
+}
+
+namespace armarx
+{
+
+ TrajectoryPlayerComponentPluginUser::TrajectoryPlayerComponentPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+ TrajectoryPlayerInterfacePrx TrajectoryPlayerComponentPluginUser::getTrajectoryPlayer()
+ {
+ return plugin->getTrajectoryPlayer();
+ }
+
+
+}
+
+
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/TrajectoryPlayerComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/TrajectoryPlayerComponentPlugin.h
new file mode 100644
index 000000000..3fc52df85
--- /dev/null
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/TrajectoryPlayerComponentPlugin.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <RobotAPI/interface/components/TrajectoryPlayerInterface.h>
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+
+ class TrajectoryPlayerComponentPlugin : public ComponentPlugin
+ {
+ public:
+ using ComponentPlugin::ComponentPlugin;
+
+ void preOnInitComponent() override;
+
+ void preOnConnectComponent() override;
+
+ void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ TrajectoryPlayerInterfacePrx getTrajectoryPlayer();
+
+ private:
+ static constexpr const char* PROPERTY_NAME = "TrajectoryPlayerName";
+ TrajectoryPlayerInterfacePrx _trajectoryPlayer;
+ };
+
+ }
+}
+
+namespace armarx
+{
+ /**
+ * @brief Provides a ready-to-use TrajectoryPlayer.
+ */
+ class TrajectoryPlayerComponentPluginUser : virtual public ManagedIceObject
+ {
+ public:
+ TrajectoryPlayerComponentPluginUser();
+ TrajectoryPlayerInterfacePrx getTrajectoryPlayer();
+
+ private:
+ armarx::plugins::TrajectoryPlayerComponentPlugin* plugin = nullptr;
+ };
+
+}
+
+
+namespace armarx
+{
+ namespace plugins
+ {
+ // Legacy typedef.
+ using TrajectoryPlayerComponentPluginUser = armarx::TrajectoryPlayerComponentPluginUser;
+ }
+}
--
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