Decoupled.cpp

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#include "Decoupled.h"
 
#include <ArmarXCore/core/application/Application.h>
#include <ArmarXCore/core/ManagedIceObjectRegistryInterface.h>
 
namespace armarx
{
 
    static CreateComponentFunction* global_createComponent;
    static std::string global_name;
 
    bool Decoupled::setCreateComponentFunction(CreateComponentFunction* function,
            std::string const& name)
    {
        global_createComponent = function;
        global_name = name;
        return global_createComponent != nullptr;
    }
 
    struct DecoupledSingleComponentApp : armarx::Application
    {
        std::string appConfigName;
        std::string appConfigDomain;
 
        void setup(const armarx::ManagedIceObjectRegistryInterfacePtr& registry,
                   Ice::PropertiesPtr properties) override
        {
            ARMARX_TRACE;
 
            ARMARX_CHECK_NOT_NULL(registry);
            ARMARX_CHECK_NOT_NULL(global_createComponent)
                    << "Component not registered! "
                    << "Make sure that the macro "
                    << "`ARMARX_REGISTER_COMPONENT_EXECUTABLE(YourComponentName, YourComponentName::GetDefaultName());` "
                    << "is present in the component source file! "
                    << "(If necessary, add the static function `GetDefaultName()` to your component class.)";
 
 
            registry->addObject(global_createComponent(properties, "", appConfigDomain));
        }
    };
 
    int DecoupledMain(int argc, char* argv[])
    {
        std::string configName = "";
        std::string configDomain = "ArmarX";
        bool enableLibLoading = false;
 
        IceUtil::Handle<DecoupledSingleComponentApp> app(new DecoupledSingleComponentApp);
        armarx::Application::setInstance(app);
 
        app->appConfigDomain = configDomain;
        app->appConfigName = configName;
        app->enableLibLoading(enableLibLoading);
        app->setName(global_name);
        app->storeCommandLineArguments(argc, argv);
        return app->main(argc, argv);
    }
 
}