From b9ddf3069c27cbf852431c03f47cae207800ffc8 Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Wed, 29 Nov 2023 11:08:13 +0100
Subject: [PATCH] Add Property to disable the observer publishing thread
In context of https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/issues/85
---
.../RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp | 6 +++++-
.../RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h | 6 ++++++
2 files changed, 11 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
index a98d34947..4b9a12a21 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
@@ -476,6 +476,7 @@ namespace armarx::RobotUnitModule
getProperty<std::string>("DebugDrawerUpdatesTopicName").getValue();
debugObserverTopicName = getProperty<std::string>("DebugObserverTopicName").getValue();
+ observerEnablePublishing = getProperty<bool>("ObserverEnablePublishing").getValue();
observerPublishSensorValues = getProperty<bool>("ObserverPublishSensorValues").getValue();
observerPublishControlTargets =
getProperty<bool>("ObserverPublishControlTargets").getValue();
@@ -575,7 +576,10 @@ namespace armarx::RobotUnitModule
[&] { publish({}); }, publishPeriodMs, false, getName() + "_PublisherTask");
ARMARX_INFO << "starting publisher with timestep " << publishPeriodMs;
publisherTask->setDelayWarningTolerance(10 * publishPeriodMs);
- publisherTask->start();
+ if (observerEnablePublishing)
+ {
+ publisherTask->start();
+ }
}
void
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
index 9f061fd02..ffa451eb4 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
@@ -58,6 +58,10 @@ namespace armarx::RobotUnitModule
defineOptionalProperty<std::size_t>(
"PublishPeriodMs", 10, "Milliseconds between each publish");
+ defineOptionalProperty<bool>("ObserverEnablePublishing",
+ true,
+ "Whether the publishing thread is started or not",
+ PropertyDefinitionBase::eModifiable);
defineOptionalProperty<bool>("ObserverPublishSensorValues",
true,
"Whether sensor values are send to the observer",
@@ -271,6 +275,8 @@ namespace armarx::RobotUnitModule
/// @brief Whether \ref SensorValueBase "SensorValues" should be published to the observers
std::atomic_bool observerPublishSensorValues;
+ /// @brief Whether the publishing thread should be started or not
+ std::atomic_bool observerEnablePublishing;
/// @brief Whether \ref ControlTargetBase "ControlTargets" should be published to the observers
std::atomic_bool observerPublishControlTargets;
/// @brief Whether \ref Timing information should be published to the observers
--
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