Component.cpp

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/**
 * This file is part of ArmarX.
 *
 * 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    wp2_skills::ArmarXObjects::bimanual_transport_skill_provider
 * @author     Meixner ( andre dot meixner at kit dot edu )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
 
#include "Component.h"
 
// Include headers you only need in function definitions in the .cpp.
 
// #include <Eigen/Core>
 
// #include <SimoxUtility/color/Color.h>
 
#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
#include <armarx/control/skills/skills/platform_follower_controller/Follower.h>
 
namespace armarx::control::components::bimanual_transport_skill_provider
{
 
    const std::string Component::defaultName = "bimanual_transport_skill_provider";
 
    Component::Component()
    {
        addPlugin(virtualRobotReaderPlugin_);
        addPlugin(controlClientPlugin_);
    }
 
    ::armarx::PropertyDefinitionsPtr
    Component::createPropertyDefinitions()
    {
        ::armarx::PropertyDefinitionsPtr def =
            new ::armarx::ComponentPropertyDefinitions(getConfigIdentifier());
 
        // Publish to a topic (passing the TopicListenerPrx).
        // def->topic(myTopicListener);
 
        // Subscribe to a topic (passing the topic name).
        // def->topic<PlatformUnitListener>("MyTopic");
 
        // Use (and depend on) another component (passing the ComponentInterfacePrx).
        // def->component(myComponentProxy)
 
 
        // Add a required property. (The component won't start without a value being set.)
        def->required(properties.robotName, "p.robotName", "");
 
        // Add an optional property.
        // def->optional(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
        // def->optional(properties.numBoxes, "p.box.Number", "Number of boxes to draw in ArViz.");
 
        return def;
    }
 
    void
    Component::onInitComponent()
    {
        // Topics and properties defined above are automagically registered.
 
        // Keep debug observer data until calling `sendDebugObserverBatch()`.
        // (Requires the armarx::DebugObserverComponentPluginUser.)
        // setDebugObserverBatchModeEnabled(true);
    }
 
    void
    Component::onConnectComponent()
    {
 
        namespace skills = armarx::control::skills::skills::platform_follower_controller;
 
        {
            skills::Follower::Services srv{.mns = memoryNameSystem(),
                                           .controlComponentPlugin = &getControlComponentPlugin(),
                                           .robotReader = virtualRobotReaderPlugin_->get()};
 
            skills::Follower::Parameters params{.robotName = properties.robotName};
            addSkillFactory<skills::Follower>(srv, params);
        }
 
    }
 
    void
    Component::onDisconnectComponent()
    {
    }
 
    void
    Component::onExitComponent()
    {
    }
 
    std::string
    Component::getDefaultName() const
    {
        return Component::defaultName;
    }
 
    std::string
    Component::GetDefaultName()
    {
        return Component::defaultName;
    }
 
   
 
    ARMARX_REGISTER_COMPONENT_EXECUTABLE(Component, Component::GetDefaultName());
 
} // namespace armarx::control::components::bimanual_transport_skill_provider