DebugDrawerHelperComponentPlugin.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    RobotAPI::ArmarXObjects::RobotAPIComponentPlugins
 * @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 <ArmarXCore/core/ComponentPlugin.h>
 
#include <RobotAPI/components/DebugDrawer/DebugDrawerHelper.h>
 
#include "RobotStateComponentPlugin.h"
 
namespace armarx::plugins
{
    /**
     * @class DebugDrawerHelperComponentPlugin
     * @ingroup Library-RobotAPIComponentPlugins
     * @brief Brief description of class RobotAPIComponentPlugins.
     *
     * Detailed description of class RobotAPIComponentPlugins.
     */
    class DebugDrawerHelperComponentPlugin : public ComponentPlugin
    {
    public:
        DebugDrawerHelperComponentPlugin(ManagedIceObject& parent, std::string pre);
        using ComponentPlugin::ComponentPlugin;
 
        //helper
    public:
        const DebugDrawerHelper& getDebugDrawerHelper() const;
        DebugDrawerHelper& getDebugDrawerHelper();
 
        const DebugDrawerInterfacePrx& getDebugDrawerTopic() const;
 
        //other
    public:
        std::unique_lock<std::recursive_mutex> getDebugDrawerHelperLock() const;
        std::string getDebugDrawerLayerName() const;
 
        VirtualRobot::RobotPtr getDebugDrawerHelperRobot() const;
 
        bool synchronizeDebugDrawerHelperRobot() const;
        bool synchronizeDebugDrawerHelperRobot(Ice::Long timestamp) const;
        bool synchronizeDebugDrawerHelperRobot(const RobotStateConfig& state) const;
 
        void setClearLayersOnDisconnect(bool b);
        //hooks
    protected:
        void preOnInitComponent() override;
        void preOnConnectComponent() override;
        void postOnDisconnectComponent() override;
        void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
 
        //data
    private:
        using RobotStateComponentPlugin = armarx::plugins::RobotStateComponentPlugin;
        static constexpr auto _propertyName = "DebugDrawerTopicName";
        std::string _pre;
        mutable std::recursive_mutex _debugDrawerHelperMutex;
        std::unique_ptr<DebugDrawerHelper> _debugDrawerHelper;
        DebugDrawerInterfacePrx _debugDrawerTopic;
        RobotStateComponentPlugin* _robotStateComponentPlugin{nullptr};
        bool _doNotClearLayersOnDisconnect = false;
    };
} // namespace armarx::plugins
 
#include <ArmarXCore/core/ManagedIceObject.h>
 
namespace armarx
{
    class DebugDrawerHelperComponentPluginUser : virtual public ManagedIceObject
    {
    public:
        using DebugDrawerHelperComponentPlugin = armarx::plugins::DebugDrawerHelperComponentPlugin;
 
    private:
        DebugDrawerHelperComponentPlugin* _debugDrawerHelperComponentPlugin{nullptr};
 
    public:
        DebugDrawerHelperComponentPluginUser();
 
        const DebugDrawerHelperComponentPlugin& getDebugDrawerHelperPlugin() const;
        DebugDrawerHelperComponentPlugin& getDebugDrawerHelperPlugin();
 
        const DebugDrawerHelper& getDebugDrawerHelper() const;
        DebugDrawerHelper& getDebugDrawerHelper();
 
        const DebugDrawerInterfacePrx& getDebugDrawerTopic() const;
 
        //other
    public:
        std::unique_lock<std::recursive_mutex> getDebugDrawerHelperLock() const;
        std::string getDebugDrawerLayerName() const;
 
        VirtualRobot::RobotPtr getDebugDrawerHelperRobot() const;
 
        bool synchronizeDebugDrawerHelperRobot() const;
        bool synchronizeDebugDrawerHelperRobot(Ice::Long timestamp) const;
        bool synchronizeDebugDrawerHelperRobot(const RobotStateConfig& state) const;
    };
} // namespace armarx