RobotUnitObserver.cpp

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#include "RobotUnitObserver.h"
 
#include <ArmarXCore/observers/exceptions/user/InvalidDatafieldException.h>
 
namespace armarx
{
    void
    RobotUnitObserver::offerOrUpdateDataFieldsFlatCopy_async(const std::string& channelName,
                                                             StringVariantBaseMap&& valueMap)
    {
        addWorkerJob("RobotUnitObserver::offerOrUpdateDataFieldsFlatCopy_async",
                     [this, channelName, vmap = std::move(valueMap)]
                     { offerOrUpdateDataFieldsFlatCopy(channelName, vmap); });
    }
 
    void
    RobotUnitObserver::onConnectObserver()
    {
        offerChannel(sensorDevicesChannel, "Devices that provide sensor data");
        offerChannel(controlDevicesChannel, "Devices that are controlled by JointControllers");
        offerChannel(timingChannel,
                     "Channel for timings of the different phases of the robot unit");
        offerChannel(additionalChannel, "Additional custom datafields");
    }
} // namespace armarx