ComponentPlugin.cpp

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#include "ComponentPlugin.h"
 
#include <memory>
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
 
#include <RobotAPI/components/armem/MemoryNameSystem/MemoryNameSystem.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
#include <RobotAPI/libraries/armem/client/plugins/Plugin.h>
#include <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
 
// ComponentPlugin
 
namespace armarx::control::client
{
 
    ComponentPlugin::ComponentPlugin(armarx::ManagedIceObject& parent, const std::string& prefix) :
        armarx::ComponentPlugin(parent, prefix)
    {
        addPlugin(armemPlugin);
        addPlugin(robotUnitPlugin);
    }
 
    ComponentPlugin::~ComponentPlugin() = default;
 
    void
    ComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
    {
        armemPlugin->postCreatePropertyDefinitions(properties);
        robotUnitPlugin->postCreatePropertyDefinitions(properties);
    }
 
    void
    ComponentPlugin::preOnInitComponent()
    {
        armemPlugin->preOnInitComponent();
        robotUnitPlugin->preOnInitComponent();
    }
 
    void
    ComponentPlugin::preOnConnectComponent()
    {
        armemPlugin->preOnConnectComponent();
        robotUnitPlugin->preOnConnectComponent();
 
        ARMARX_INFO << "Reader: connecting to memory '" << memory::constants::MemoryName << "'";
        configReader = memory::config::Reader(armemPlugin->getMemoryNameSystemClient());
 
        ARMARX_INFO << "Writer: connecting to memory '" << memory::constants::MemoryName << "'";
        configWriter = memory::config::Writer(armemPlugin->getMemoryNameSystemClient());
    }
 
    // ComponentPluginUser
 
    ComponentPluginUser::ComponentPluginUser()
    {
        ARMARX_TRACE;
        addPlugin(plugin);
    }
 
    ComponentPlugin&
    ComponentPluginUser::getControlComponentPlugin()
    {
        ARMARX_CHECK_NOT_NULL(plugin);
        return *plugin;
    }
 
    ComponentPluginUser::~ComponentPluginUser() = default;
 
} // namespace armarx::control::client