StaticAgentReporter.cpp

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotComponents::ArmarXObjects::StaticAgentReporter
 * @author     Timothee Habra ( timothee dot habra at uclouvain dot be )
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "StaticAgentReporter.h"
 
#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
 
using namespace armarx;
 
void
StaticAgentReporter::onInitComponent()
{
 
    usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
    if (!getProperty<std::string>("WorkingMemoryName").getValue().empty())
    {
        usingProxy(getProperty<std::string>("WorkingMemoryName").getValue());
    }
}
 
void
StaticAgentReporter::onConnectComponent()
{
    robotStateComponent = getProxy<RobotStateComponentInterfacePrx>(
        getProperty<std::string>("RobotStateComponentName").getValue());
    robot = RemoteRobot::createLocalCloneFromFile(
        robotStateComponent, VirtualRobot::RobotIO::RobotDescription::eStructure);
    if (!getProperty<std::string>("WorkingMemoryName").getValue().empty())
    {
        memoryx::WorkingMemoryInterfacePrx workingMemory =
            getProxy<memoryx::WorkingMemoryInterfacePrx>(
                getProperty<std::string>("WorkingMemoryName").getValue());
        agentInstanceSegment = workingMemory->getAgentInstancesSegment();
 
        robotAgent = new memoryx::AgentInstance(robotStateComponent->getRobotName());
        robotAgent->setSharedRobot(robotStateComponent->getSynchronizedRobot());
        robotAgent->setName(robotStateComponent->getRobotName());
        robotAgent->setAgentFilePath(robotStateComponent->getRobotFilename());
        robotAgent->setPose(new FramedPose(Eigen::Matrix4f::Identity(), GlobalFrame, ""));
 
        std::string robotAgentId =
            agentInstanceSegment->upsertEntityByName(robotAgent->getName(), robotAgent);
        robotAgent->setId(robotAgentId);
    }
}
 
void
StaticAgentReporter::onDisconnectComponent()
{
}
 
void
StaticAgentReporter::onExitComponent()
{
}
 
armarx::PropertyDefinitionsPtr
StaticAgentReporter::createPropertyDefinitions()
{
    return armarx::PropertyDefinitionsPtr(
        new StaticAgentReporterPropertyDefinitions(getConfigIdentifier()));
}