ComponentPlugin.h

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#pragma once
 
 
#include <memory>
#include <string>
 
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/core/ManagedIceObject.h>
#include <ArmarXCore/core/application/properties/forward_declarations.h>
 
#include <armarx/navigation/client/NavigationStackConfig.h>
#include <armarx/navigation/client/Navigator.h>
#include <armarx/navigation/client/ice/NavigatorInterface.h>
#include <armarx/navigation/client/services/IceNavigatorFactory.h>
#include <armarx/navigation/client/services/IceNavigatorHandle.h>
#include <armarx/navigation/client/services/SimpleEventHandler.h>
 
namespace armarx::armem::client
{
    class MemoryNameSystem;
}
 
namespace armarx::navigation::client
{
 
    class Navigator;
 
    class ComponentPlugin : public armarx::ComponentPlugin
    {
    public:
        ComponentPlugin(ManagedIceObject& parent, const std::string& prefix) :
            armarx::ComponentPlugin(parent, prefix) {};
 
        ~ComponentPlugin() override;
 
        void postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties) override;
 
        void preOnInitComponent() override;
 
        void preOnConnectComponent() override;
 
        void configureNavigator(const client::NavigationStackConfig& stackConfig,
                                const std::string& configId);
 
        IceNavigatorFactory& navigatorFactory() {return iceNavigatorFactory;}
 
    private:
        static constexpr const char* PROPERTY_NAME = "nav.NavigatorName";
 
        client::NavigatorInterfacePrx navigatorPrx;
        IceNavigatorFactory iceNavigatorFactory;
        NavigatorHandlePtr iceNavigatorHandle;
 
        std::unique_ptr<SimpleEventHandler> eventHandler;
 
    public:
        std::unique_ptr<Navigator> navigator;
    };
 
    class ComponentPluginUser : virtual public ManagedIceObject
    {
 
    public:
        ComponentPluginUser();
 
        void configureNavigator(const client::NavigationStackConfig& stackConfig);
 
        Navigator& getNavigator();
        
        IceNavigatorFactory& navigatorFactory() {return plugin->navigatorFactory();}
 
        // Non-API
        ~ComponentPluginUser() override;
 
    private:
        ComponentPlugin* plugin = nullptr;
    };
 
} // namespace armarx::navigation::client