BringObjectGroupStatechartContext.cpp
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1 /*
2  * This file is part of ArmarX.
3  *
4  * Copyright (C) 2014-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
5  *
6  * ArmarX is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License version 2 as
8  * published by the Free Software Foundation.
9  *
10  * ArmarX is distributed in the hope that it will be useful, but
11  * WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  *
18  * @package RobotSkillTemplates::BringObjectGroup
19  * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
20  * @date 2015
21  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
22  * GNU General Public License
23  */
24 
25 #include "BringObjectGroupStatechartContext.h"
26 
27 #include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
28 #include <RobotAPI/interface/core/FramedPoseBase.h>
29 #include <ArmarXCore/core/Component.h>
30 #include <ArmarXCore/core/system/ImportExportComponent.h>
31 #include <ArmarXCore/statechart/Statechart.h>
32 
33 
34 
35 namespace armarx::BringObjectGroup
36 {
37  void BringObjectGroupStatechartContext::onInitStatechartContext()
38  {
39  // Register dependencies
40  // usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
41  // usingProxy(getProperty<std::string>("KinematicUnitObserverName").getValue());
42  usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
43  // usingProxy(getProperty<std::string>("TCPControlUnitName").getValue());
44  usingProxy(getProperty<std::string>("WorkingMemoryName").getValue());
45  usingProxy(getProperty<std::string>("ObjectMemoryObserverName").getValue());
46  usingProxy(getProperty<std::string>("PriorKnowledgeName").getValue());
47  usingProxy(getProperty<std::string>("ViewSelectionName").getValue());
48  // usingProxy(getProperty<std::string>("PathPlannerName").getValue());
49 
50  offeringTopic("DebugDrawerUpdates");
51 
52  }
53 
54 
55  void BringObjectGroupStatechartContext::onConnectStatechartContext()
56  {
57 
58  // retrieve proxies
59  robotStateComponent = getProxy<RobotStateComponentInterfacePrx>(getProperty<std::string>("RobotStateComponentName").getValue());
60  // kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(getProperty<std::string>("KinematicUnitName").getValue());
61  // kinematicUnitObserverPrx = getProxy<KinematicUnitObserverInterfacePrx>(getProperty<std::string>("KinematicUnitObserverName").getValue());
62  // tcpControlPrx = getProxy<TCPControlUnitInterfacePrx>(getProperty<std::string>("TCPControlUnitName").getValue());
63 
64  workingMemoryProxy = getProxy<memoryx::WorkingMemoryInterfacePrx>(getProperty<std::string>("WorkingMemoryName").getValue());
65  objectMemoryObserverProxy = getProxy<memoryx::ObjectMemoryObserverInterfacePrx>(getProperty<std::string>("ObjectMemoryObserverName").getValue());
66  priorKnowledgeProxy = getProxy<memoryx::PriorKnowledgeInterfacePrx>(getProperty<std::string>("PriorKnowledgeName").getValue());
67  viewSelection = getProxy<ViewSelectionInterfacePrx>(getProperty<std::string>("ViewSelectionName").getValue());
68  // pathPlannerPrx = getProxy<PathPlannerBasePrx>(getProperty<std::string>("PriorPathPlannerNameKnowledgeName").getValue());
69 
70 
71  // // initialize remote robot
72  remoteRobot.reset(new RemoteRobot(robotStateComponent->getSynchronizedRobot()));
73 
74  debugDrawerTopicProxy = getTopic<armarx::DebugDrawerInterfacePrx>("DebugDrawerUpdates");
75  /*try
76  {
77  simulatorPrx = getProxy<SimulatorInterfacePrx>("Simulator");
78  }
79  catch(...)
80  {
81  ARMARX_WARNING << "Could not get simulator proxy";
82  }*/
83  }
84 
85  PropertyDefinitionsPtr BringObjectGroupStatechartContext::createPropertyDefinitions()
86  {
87  return PropertyDefinitionsPtr(new BringObjectGroupStatechartContextProperties(
88  getConfigIdentifier()));
89  }
90 }
91 
92 
RemoteRobot.h
BringObjectGroupStatechartContext.h
Statechart.h
armarx::BringObjectGroup
Definition: BringObjectGroupRemoteStateOfferer.h:30
armarx::BringObjectGroup::BringObjectGroupStatechartContext::onConnectStatechartContext
void onConnectStatechartContext() override
onConnectStatechartContext can be implemented by subclasses
Definition: BringObjectGroupStatechartContext.cpp:55
Component.h
armarx::Component::getConfigIdentifier
std::string getConfigIdentifier()
Retrieve config identifier for this component as set in constructor.
Definition: Component.cpp:74
armarx::RemoteRobot
Mimics the behaviour of the VirtualRobot::Robot class while redirecting everything to an Ice proxy.
Definition: RemoteRobot.h:139
armarx::ManagedIceObject::offeringTopic
void offeringTopic(const std::string &name)
Registers a topic for retrival after initialization.
Definition: ManagedIceObject.cpp:290
IceUtil::Handle< class PropertyDefinitionContainer >
armarx::PropertyDefinitionsPtr
IceUtil::Handle< class PropertyDefinitionContainer > PropertyDefinitionsPtr
PropertyDefinitions smart pointer type.
Definition: forward_declarations.h:34
armarx::BringObjectGroup::BringObjectGroupStatechartContext::onInitStatechartContext
void onInitStatechartContext() override
onInitStatechartonInitStatechartContext can be implemented by subclasses
Definition: BringObjectGroupStatechartContext.cpp:37
armarx::ManagedIceObject::usingProxy
bool usingProxy(const std::string &name, const std::string &endpoints="")
Registers a proxy for retrieval after initialization and adds it to the dependency list.
Definition: ManagedIceObject.cpp:151
armarx::BringObjectGroup::BringObjectGroupStatechartContextProperties
Definition: BringObjectGroupStatechartContext.h:54
ImportExportComponent.h