IceNavigatorFactory.cpp

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#include "IceNavigatorFactory.h"
 
#include <algorithm>
#include <iterator>
#include <memory>
#include <string>
#include <vector>
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <Ice/Exception.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/util/CPPUtility/trace.h>
 
#include <armarx/navigation/client/NavigationStackConfig.h>
#include <armarx/navigation/client/ice/NavigatorInterface.h>
#include <armarx/navigation/client/ice_conversions.h>
#include <armarx/navigation/client/services/IceNavigatorHandle.h>
#include <armarx/navigation/core/basic_types.h>
#include <armarx/navigation/core/types.h>
 
namespace armarx::navigation::client
{
 
    IceNavigatorFactory::IceNavigatorFactory() = default;
 
    IceNavigatorFactory::IceNavigatorFactory(const NavigatorInterfacePrx& navigator) :
        navigator(navigator)
    {
        // pass
    }
 
    IceNavigatorFactory::~IceNavigatorFactory()
    {
        // pass
    }
 
    void
    IceNavigatorFactory::setNavigatorComponent(const NavigatorInterfacePrx& navigator)
    {
        ARMARX_CHECK_NOT_NULL(navigator);
        this->navigator = navigator;
    }
 
    std::unique_ptr<core::NavigatorInterface>
    IceNavigatorFactory::createConfig(const client::NavigationStackConfig& config,
                                      const std::string& configId)
    {
        ARMARX_TRACE;
        ARMARX_CHECK_NOT_NULL(navigator);
 
        try
        {
            navigator->createConfig(config.toAron(), configId);
        }
        catch (const Ice::LocalException& e)
        {
            ARMARX_ERROR << "Failed to create navigation config '" << configId
                         << "' on navigator: " << e.what();
            throw;
        }
 
        ARMARX_TRACE;
        // std::make_unique doesn't work with friend class
        return std::unique_ptr<IceNavigatorHandle>(new IceNavigatorHandle(navigator, configId));
    }
 
} // namespace armarx::navigation::client