TCPControlSkillProvider.cpp

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#include "TCPControlSkillProvider.h"
 
#include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
#include <RobotAPI/libraries/aron/core/type/variant/primitive/String.h>
 
//#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client.h>
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
namespace armarx::skills::provider
{
    armarx::PropertyDefinitionsPtr
    TCPControlSkillProvider::createPropertyDefinitions()
    {
        armarx::PropertyDefinitionsPtr defs =
            new ComponentPropertyDefinitions(getConfigIdentifier());
 
        tcpControlSkillContext.defineProperties(defs, "tcpControlSkills.");
 
        return defs;
    }
 
    std::string
    TCPControlSkillProvider::getDefaultName() const
    {
        return GetDefaultName();
    }
 
    std::string
    TCPControlSkillProvider::GetDefaultName()
    {
        return "TCPControlSkillProvider";
    }
 
    void
    TCPControlSkillProvider::onInitComponent()
    {
        tcpControlSkillContext.onInit(*this);
    }
 
    void
    TCPControlSkillProvider::onConnectComponent()
    {
        tcpControlSkillContext.onConnected(*this);
 
        auto& mns = memoryNameSystem();
 
        // Add move skill
        addSkillFactory<MoveTCPToTargetPose>(
            std::ref(mns), std::ref(arviz), std::ref(tcpControlSkillContext));
    }
 
    void
    TCPControlSkillProvider::onDisconnectComponent()
    {
    }
 
    void
    TCPControlSkillProvider::onExitComponent()
    {
    }
 
    ARMARX_REGISTER_COMPONENT_EXECUTABLE(
        ::armarx::skills::provider::TCPControlSkillProvider,
        ::armarx::skills::provider::TCPControlSkillProvider::GetDefaultName());
 
} // namespace armarx::skills::provider