RobotUnitObserver.h

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#pragma once
 
#include <ArmarXCore/observers/Observer.h>
 
#include "util.h"
 
namespace armarx::RobotUnitModule
{
    class Publisher;
}
 
namespace armarx
{
    TYPEDEF_PTRS_HANDLE(RobotUnitObserver);
 
    class RobotUnitObserver : public Observer
    {
    public:
        const std::string additionalChannel = "Additional";
        const std::string timingChannel = "TimingInformation";
        const std::string controlDevicesChannel = "ControlDevices";
        const std::string sensorDevicesChannel = "SensorDevices";
 
        RobotUnitObserver() = default;
 
        void offerOrUpdateDataFieldsFlatCopy_async(const std::string& channelName,
                                                   StringVariantBaseMap&& valueMap);
        // Observer interface
    protected:
        void
        onInitObserver() override
        {
        }
 
        void onConnectObserver() override;
 
        friend class RobotUnitModule::Publisher;
 
        // ManagedIceObject interface
    protected:
        std::string
        getDefaultName() const override
        {
            return "RobotUnitObserver";
        }
    };
} // namespace armarx