RequestService.cpp
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1 /*
2  * This file is part of ArmarX.
3  *
4  * ArmarX is free software; you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License version 2 as
6  * published by the Free Software Foundation.
7  *
8  * ArmarX is distributed in the hope that it will be useful, but
9  * WITHOUT ANY WARRANTY; without even the implied warranty of
10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11  * GNU General Public License for more details.
12  *
13  * You should have received a copy of the GNU General Public License
14  * along with this program. If not, see <http://www.gnu.org/licenses/>.
15  *
16  * @package RobotSkillTemplates::CoreUtility
17  * @author SecondHands Demo ( shdemo at armar6 )
18  * @date 2019
19  * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
20  * GNU General Public License
21  */
22 
23 #include "RequestService.h"
24 
25 //#include <ArmarXCore/core/time/TimeUtil.h>
26 //#include <ArmarXCore/observers/variant/DatafieldRef.h>
27 
28 using namespace armarx;
29 using namespace CoreUtility;
30 
31 // DO NOT EDIT NEXT LINE
32 RequestService::SubClassRegistry RequestService::Registry(RequestService::GetName(), &RequestService::CreateInstance);
33 
34 
35 
37 {
38  // put your user code for the enter-point here
39  // execution time should be short (<100ms)
40  getRequestableServices()->requestService(in.getServiceProviderName(), in.getServiceTimeoutMs());
41  emitSuccess();
42 
43 }
44 
45 //void RequestService::run()
46 //{
47 // // put your user code for the execution-phase here
48 // // runs in seperate thread, thus can do complex operations
49 // // should check constantly whether isRunningTaskStopped() returns true
50 //
51 // // get a private kinematic instance for this state of the robot (tick "Robot State Component" proxy checkbox in statechart group)
52 // VirtualRobot::RobotPtr robot = getLocalRobot();
53 //
54 //// uncomment this if you need a continous run function. Make sure to use sleep or use blocking wait to reduce cpu load.
55 // while (!isRunningTaskStopped()) // stop run function if returning true
56 // {
57 // // do your calculations
58 // // synchronize robot clone to most recent state
59 // RemoteRobot::synchronizeLocalClone(robot, getRobotStateComponent());
60 // }
61 //}
62 
63 //void RequestService::onBreak()
64 //{
65 // // put your user code for the breaking point here
66 // // execution time should be short (<100ms)
67 //}
68 
70 {
71  // put your user code for the exit point here
72  // execution time should be short (<100ms)
73 }
74 
75 
76 // DO NOT EDIT NEXT FUNCTION
78 {
79  return XMLStateFactoryBasePtr(new RequestService(stateData));
80 }
81 
armarx::CoreUtility::RequestService::onExit
void onExit() override
Definition: RequestService.cpp:69
RequestService.h
armarx::XMLStateConstructorParams
Definition: XMLState.h:50
armarx::CoreUtility::RequestService::RequestService
RequestService(const XMLStateConstructorParams &stateData)
Definition: RequestService.h:32
armarx::CoreUtility::RequestService::Registry
static SubClassRegistry Registry
Definition: RequestService.h:45
IceInternal::Handle
Definition: forward_declarations.h:8
armarx::CoreUtility::RequestService::CreateInstance
static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData)
Definition: RequestService.cpp:77
armarx::XMLStateFactoryBasePtr
IceInternal::Handle< XMLStateFactoryBase > XMLStateFactoryBasePtr
Definition: XMLState.h:65
armarx::CoreUtility::RequestService::onEnter
void onEnter() override
Definition: RequestService.cpp:36
armarx
This file offers overloads of toIce() and fromIce() functions for STL container types.
Definition: ArmarXTimeserver.cpp:28