GraspCandidateObserverComponentPlugin.cpp

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#include "GraspCandidateObserverComponentPlugin.h"
 
#include <SimoxUtility/algorithm/string/string_tools.h>
 
#include <ArmarXCore/core/Component.h>
 
namespace armarx
{
    namespace plugins
    {
 
        void
        GraspCandidateObserverComponentPlugin::preOnInitComponent()
        {
            parent<Component>().usingProxyFromProperty(PROPERTY_NAME);
            if (!_graspCandidateObserver && _graspCandidateObserverName.empty())
            {
                parent<Component>().getProperty(_graspCandidateObserverName,
                                                makePropertyName(PROPERTY_NAME));
            }
 
            if (!_graspCandidateObserver)
            {
                parent<Component>().usingProxy(_graspCandidateObserverName);
            }
        }
 
        void
        GraspCandidateObserverComponentPlugin::preOnConnectComponent()
        {
            if (!_graspCandidateObserver)
            {
                parent<Component>().getProxy(_graspCandidateObserver, _graspCandidateObserverName);
            }
        }
 
        void
        GraspCandidateObserverComponentPlugin::postOnDisconnectComponent()
        {
            _graspCandidateObserver = nullptr;
        }
 
        void
        GraspCandidateObserverComponentPlugin::postCreatePropertyDefinitions(
            armarx::PropertyDefinitionsPtr& properties)
        {
            if (!properties->hasDefinition(PROPERTY_NAME))
            {
                properties->defineOptionalProperty<std::string>(
                    PROPERTY_NAME, "GraspCandidateObserver", "Name of the GraspCandidateObserver");
            }
        }
 
        grasping::GraspCandidateObserverInterfacePrx
        GraspCandidateObserverComponentPlugin::getGraspCandidateObserver()
        {
            return _graspCandidateObserver;
        }
 
        const std::string&
        GraspCandidateObserverComponentPlugin::getGraspCandidateObserverName() const
        {
            return _graspCandidateObserverName;
        }
 
        grasping::GraspCandidateSeq
        GraspCandidateObserverComponentPlugin::getAllCandidates() const
        {
            if (_graspCandidateObserver)
            {
                return _graspCandidateObserver->getAllCandidates();
            }
            return {};
        }
 
        grasping::GraspCandidateSeq
        GraspCandidateObserverComponentPlugin::getCandidates() const
        {
            if (!_graspCandidateObserver)
            {
                return {};
            }
            if (_upstream_providers.empty())
            {
                return _graspCandidateObserver->getAllCandidates();
            }
            return _graspCandidateObserver->getCandidatesByProviders(_upstream_providers);
        }
 
        void
        GraspCandidateObserverComponentPlugin::setUpstreamGraspCandidateProviders(
            std::vector<std::string> pr)
        {
            _upstream_providers = std::move(pr);
        }
 
        void
        GraspCandidateObserverComponentPlugin::setUpstreamGraspCandidateProvidersFromCSV(
            const std::string& csv,
            const std::string& delim)
        {
            setUpstreamGraspCandidateProviders(simox::alg::split(csv, delim));
        }
 
        void
        GraspCandidateObserverComponentPlugin::setGraspCandidateObserverName(
            const std::string& name)
        {
            _graspCandidateObserverName = name;
        }
    } // namespace plugins
} // namespace armarx
 
namespace armarx
{
    GraspCandidateObserverComponentPluginUser::GraspCandidateObserverComponentPluginUser()
    {
        addPlugin(plugin);
    }
 
    grasping::GraspCandidateObserverInterfacePrx
    GraspCandidateObserverComponentPluginUser::getGraspCandidateObserver()
    {
        return plugin->getGraspCandidateObserver();
    }
 
    plugins::GraspCandidateObserverComponentPlugin&
    GraspCandidateObserverComponentPluginUser::getGraspCandidateObserverComponentPlugin()
    {
        ARMARX_CHECK_NOT_NULL(plugin);
        return *plugin;
    }
 
    const plugins::GraspCandidateObserverComponentPlugin&
    GraspCandidateObserverComponentPluginUser::getGraspCandidateObserverComponentPlugin() const
    {
        ARMARX_CHECK_NOT_NULL(plugin);
        return *plugin;
    }
 
    grasping::GraspCandidateSeq
    GraspCandidateObserverComponentPluginUser::getAllGraspCandidates() const
    {
        return getGraspCandidateObserverComponentPlugin().getAllCandidates();
    }
 
    grasping::GraspCandidateSeq
    GraspCandidateObserverComponentPluginUser::getGraspCandidates() const
    {
        return getGraspCandidateObserverComponentPlugin().getCandidates();
    }
} // namespace armarx