TrackingGroupStatechartContext.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2014-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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    RobotSkillTemplates::TrackingGroup
 * @author     Manfred Kroehnert ( Manfred dot Kroehnert at kit dot edu )
 * @date       2015
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#pragma once
 
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/core/system/ImportExportComponent.h>
#include <ArmarXCore/statechart/StatechartContext.h>
 
// Custom Includes
//#include <RobotAPI/interface/units/KinematicUnitInterface.h>
//#include <RobotAPI/interface/units/TCPControlUnit.h>
//#include <RobotAPI/interface/observers/KinematicUnitObserverInterface.h>
//#include <RobotAPI/interface/core/RobotState.h>
//#include <VirtualRobot/VirtualRobot.h>
 
 
namespace armarx::TrackingGroup
{
 
    struct TrackingGroupStatechartContextProperties : StatechartContextPropertyDefinitions
    {
        TrackingGroupStatechartContextProperties(std::string prefix) :
            StatechartContextPropertyDefinitions(prefix)
        {
            //            defineRequiredProperty<std::string>("KinematicUnitName", "Name of the kinematic unit that should be used");
            //            defineRequiredProperty<std::string>("KinematicUnitObserverName", "Name of the kinematic unit observer that should be used");
            //            defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the robot state component that should be used");
            //            defineOptionalProperty<std::string>("TCPControlUnitName", "TCPControlUnit", "Name of the tcp control unit component that should be used");
        }
    };
 
    /**
     * @class TrackingGroupStatechartContext is a custom implementation of the StatechartContext
     * for a statechart
     */
    class ARMARXCOMPONENT_IMPORT_EXPORT TrackingGroupStatechartContext :
        virtual public XMLStatechartContext
    {
    public:
        // inherited from Component
        virtual std::string
        getDefaultName()
        {
            return "TrackingGroupStatechartContext";
        }
 
        void onInitStatechartContext() override;
        void onConnectStatechartContext() override;
 
 
        //        const VirtualRobot::RobotPtr getRobot() { return remoteRobot;}
        //        RobotStateComponentInterfacePrx getRobotStateComponent() { return robotStateComponent; }
        //        KinematicUnitInterfacePrx getKinematicUnit() { return kinematicUnitPrx; }
        //        std::string getKinematicUnitObserverName() { return getProperty<std::string>("KinematicUnitObserverName").getValue(); }
        //        TCPControlUnitInterfacePrx getTCPControlUnit() { return tcpControlPrx;}
    private:
        /**
         * @see PropertyUser::createPropertyDefinitions()
         */
        PropertyDefinitionsPtr createPropertyDefinitions() override;
 
 
        //        RobotStateComponentInterfacePrx robotStateComponent;
        //        KinematicUnitInterfacePrx kinematicUnitPrx;
        //        KinematicUnitObserverInterfacePrx kinematicUnitObserverPrx;
        //        TCPControlUnitInterfacePrx tcpControlPrx;
        //        VirtualRobot::RobotPtr remoteRobot;
    };
 
} // namespace armarx::TrackingGroup