GraspCandidateObserverComponentPlugin.h

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#pragma once
 
#include <ArmarXCore/core/ComponentPlugin.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 postOnDisconnectComponent() override;
 
            void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
 
            grasping::GraspCandidateObserverInterfacePrx getGraspCandidateObserver();
 
            void setGraspCandidateObserverName(const std::string& name);
            const std::string& getGraspCandidateObserverName() const;
 
            grasping::GraspCandidateSeq getAllCandidates() const;
            grasping::GraspCandidateSeq getCandidates() const;
            void setUpstreamGraspCandidateProviders(std::vector<std::string> pr);
            void setUpstreamGraspCandidateProvidersFromCSV(const std::string& csv, const std::string& delim = ",;");
        private:
            static constexpr const char* PROPERTY_NAME = "GraspCandidateObserverName";
            std::string                                  _graspCandidateObserverName;
            grasping::GraspCandidateObserverInterfacePrx _graspCandidateObserver;
            std::vector<std::string>                     _upstream_providers;
        };
    }
}
 
 
#include <ArmarXCore/core/ManagedIceObject.h>
 
namespace armarx
{
    /**
     * @brief Provides a ready-to-use GraspCandidateObserver.
     */
    class GraspCandidateObserverComponentPluginUser : virtual public ManagedIceObject
    {
    public:
        GraspCandidateObserverComponentPluginUser();
        grasping::GraspCandidateObserverInterfacePrx getGraspCandidateObserver();
 
        armarx::plugins::GraspCandidateObserverComponentPlugin& getGraspCandidateObserverComponentPlugin();
        const armarx::plugins::GraspCandidateObserverComponentPlugin& getGraspCandidateObserverComponentPlugin() const;
 
        grasping::GraspCandidateSeq getAllGraspCandidates() const;
        grasping::GraspCandidateSeq getGraspCandidates() const;
    private:
        armarx::plugins::GraspCandidateObserverComponentPlugin* plugin = nullptr;
    };
}
 
 
namespace armarx
{
    namespace plugins
    {
        // Legacy typedef.
        using GraspCandidateObserverComponentPluginUser = armarx::GraspCandidateObserverComponentPluginUser;
    }
}