DebugObserverComponentPlugin.h

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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    ArmarXGui::ArmarXObjects::ArmarXGuiComponentPlugins
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2019
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <utility> // for std::forward
 
#include <ArmarXCore/core/ComponentPlugin.h>
#include <ArmarXCore/libraries/DebugObserverHelper/DebugObserverHelper.h>
#include <ArmarXCore/util/CPPUtility/TemplateMetaProgramming.h>
 
namespace armarx::plugins
{
    /**
    * @defgroup Library-ArmarXCoreComponentPlugins ArmarXCoreComponentPlugins
    * @ingroup ArmarXGui
    * A description of the library ArmarXCoreComponentPlugins.
    */
 
    /**
     * @class DebugObserverComponentPlugin
     * @ingroup Library-ArmarXCoreComponentPlugins
     * @brief Brief description of class DebugObserverComponentPlugin.
     *
     * Detailed description of class DebugObserverComponentPlugin.
     */
    class DebugObserverComponentPlugin : public ComponentPlugin, public DebugObserverHelper
    {
    public:
        using ComponentPlugin::ComponentPlugin;
 
        void setDebugObserverTopic(const std::string& name);
        std::string getDebugObserverTopic();
 
 
    protected:
        void preOnInitComponent() override;
        void postOnInitComponent() override;
        void preOnConnectComponent() override;
 
        void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
 
 
    private:
        static constexpr auto _propertyName = "DebugObserverTopicName";
        std::string _topicName;
    };
} // namespace armarx::plugins
 
#include <ArmarXCore/core/ManagedIceObject.h>
 
namespace armarx
{
    class DebugObserverComponentPluginUser : virtual public ManagedIceObject
    {
    public:
        using DebugObserverComponentPlugin = armarx::plugins::DebugObserverComponentPlugin;
 
 
    public:
        DebugObserverComponentPluginUser();
 
        plugins::DebugObserverComponentPlugin& getDebugObserverComponentPlugin();
 
        template <class... Ts>
        void
        setDebugObserverDatafield(Ts&&... ts) const
        {
            _debugObserverComponentPlugin->setDebugObserverDatafield(std::forward<Ts>(ts)...);
        }
 
        void setDebugObserverChannel(const std::string& channelName,
                                     StringVariantBaseMap valueMap) const;
        void removeDebugObserverChannel(const std::string& channelname) const;
        void removeDebugObserverDatafield(const std::string& channelName,
                                          const std::string& datafieldName) const;
        void removeAllDebugObserverChannels() const;
 
        const DebugObserverInterfacePrx& getDebugObserver() const;
 
        void setDebugObserverBatchModeEnabled(bool enable);
        void sendDebugObserverBatch();
 
 
    private:
        DebugObserverComponentPlugin* _debugObserverComponentPlugin{nullptr};
    };
} // namespace armarx