From 050914f7d1df4d71cc584316fb7334332cfbf50a Mon Sep 17 00:00:00 2001
From: Christian Dreher <c.dreher@kit.edu>
Date: Wed, 26 Jul 2023 13:21:30 +0200
Subject: [PATCH] Add ObjectMemoryGroup statechart group and state
RequestObjects (WIP)
---
source/RobotAPI/statecharts/CMakeLists.txt | 2 +
.../ObjectMemoryGroup/CMakeLists.txt | 27 +++++++
.../ObjectMemoryGroup.scgxml | 9 +++
.../ObjectMemoryGroupRemoteStateOfferer.cpp | 29 +++++++
.../ObjectMemoryGroupRemoteStateOfferer.h | 26 +++++++
.../ObjectMemoryGroup/RequestObjects.cpp | 77 +++++++++++++++++++
.../ObjectMemoryGroup/RequestObjects.h | 27 +++++++
.../ObjectMemoryGroup/RequestObjects.xml | 21 +++++
8 files changed, 218 insertions(+)
create mode 100644 source/RobotAPI/statecharts/ObjectMemoryGroup/CMakeLists.txt
create mode 100644 source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroup.scgxml
create mode 100644 source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroupRemoteStateOfferer.cpp
create mode 100644 source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroupRemoteStateOfferer.h
create mode 100644 source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.cpp
create mode 100644 source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.h
create mode 100644 source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.xml
diff --git a/source/RobotAPI/statecharts/CMakeLists.txt b/source/RobotAPI/statecharts/CMakeLists.txt
index 006016c5d..33340476f 100644
--- a/source/RobotAPI/statecharts/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/CMakeLists.txt
@@ -13,3 +13,5 @@ add_subdirectory(StatechartExecutionGroup)
add_subdirectory(ProsthesisKinestheticTeachIn)
add_subdirectory(DebugDrawerToArVizGroup)
+
+add_subdirectory(ObjectMemoryGroup)
diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/CMakeLists.txt b/source/RobotAPI/statecharts/ObjectMemoryGroup/CMakeLists.txt
new file mode 100644
index 000000000..f86bfcaea
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/CMakeLists.txt
@@ -0,0 +1,27 @@
+# Modern CMake way:
+#armarx_add_statechart(ObjectMemoryGroup
+# SOURCES
+# ObjectMemoryGroupRemoteStateOfferer.cpp
+# HEADERS
+# ObjectMemoryGroupRemoteStateOfferer.h
+# DEPENDENCIES
+#)
+
+# Legacy CMake way:
+
+armarx_component_set_name("ObjectMemoryGroup")
+
+set(COMPONENT_LIBS
+ ArmarXCoreInterfaces ArmarXCore ArmarXCoreStatechart ArmarXCoreObservers)
+
+set(SOURCES
+ ObjectMemoryGroupRemoteStateOfferer.cpp
+)
+
+set(HEADERS
+ ObjectMemoryGroupRemoteStateOfferer.h
+ ObjectMemoryGroup.scgxml
+)
+
+armarx_generate_statechart_cmake_lists()
+armarx_add_component("${SOURCES}" "${HEADERS}")
diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroup.scgxml b/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroup.scgxml
new file mode 100644
index 000000000..90e06380a
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroup.scgxml
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<StatechartGroup name="ObjectMemoryGroup" package="RobotAPI" generateContext="true">
+ <Proxies>
+ <Proxy value="RobotAPIInterfaces.MemoryNameSystem"/>
+ </Proxies>
+ <Configurations/>
+ <State filename="RequestObjects.xml"/>
+</StatechartGroup>
+
diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroupRemoteStateOfferer.cpp b/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroupRemoteStateOfferer.cpp
new file mode 100644
index 000000000..1324dfff6
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroupRemoteStateOfferer.cpp
@@ -0,0 +1,29 @@
+#include "ObjectMemoryGroupRemoteStateOfferer.h"
+
+namespace armarx::ObjectMemoryGroup
+{
+ // DO NOT EDIT NEXT LINE
+ ObjectMemoryGroupRemoteStateOfferer::SubClassRegistry ObjectMemoryGroupRemoteStateOfferer::Registry(ObjectMemoryGroupRemoteStateOfferer::GetName(), &ObjectMemoryGroupRemoteStateOfferer::CreateInstance);
+
+ ObjectMemoryGroupRemoteStateOfferer::ObjectMemoryGroupRemoteStateOfferer(StatechartGroupXmlReaderPtr reader) :
+ XMLRemoteStateOfferer < ObjectMemoryGroupStatechartContext > (reader)
+ {}
+
+ void ObjectMemoryGroupRemoteStateOfferer::onInitXMLRemoteStateOfferer() {}
+
+ void ObjectMemoryGroupRemoteStateOfferer::onConnectXMLRemoteStateOfferer() {}
+
+ void ObjectMemoryGroupRemoteStateOfferer::onExitXMLRemoteStateOfferer() {}
+
+ // DO NOT EDIT NEXT FUNCTION
+ std::string ObjectMemoryGroupRemoteStateOfferer::GetName()
+ {
+ return "ObjectMemoryGroupRemoteStateOfferer";
+ }
+
+ // DO NOT EDIT NEXT FUNCTION
+ XMLStateOffererFactoryBasePtr ObjectMemoryGroupRemoteStateOfferer::CreateInstance(StatechartGroupXmlReaderPtr reader)
+ {
+ return XMLStateOffererFactoryBasePtr(new ObjectMemoryGroupRemoteStateOfferer(reader));
+ }
+}
diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroupRemoteStateOfferer.h b/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroupRemoteStateOfferer.h
new file mode 100644
index 000000000..882627aec
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroupRemoteStateOfferer.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include <ArmarXCore/statechart/xmlstates/XMLRemoteStateOfferer.h>
+#include "ObjectMemoryGroupStatechartContext.generated.h"
+
+namespace armarx::ObjectMemoryGroup
+{
+ class ObjectMemoryGroupRemoteStateOfferer :
+ virtual public XMLRemoteStateOfferer < ObjectMemoryGroupStatechartContext > // Change this statechart context if you need another context (dont forget to change in the constructor as well)
+ {
+ public:
+ ObjectMemoryGroupRemoteStateOfferer(StatechartGroupXmlReaderPtr reader);
+
+ // inherited from RemoteStateOfferer
+ void onInitXMLRemoteStateOfferer() override;
+ void onConnectXMLRemoteStateOfferer() override;
+ void onExitXMLRemoteStateOfferer() override;
+
+ // static functions for AbstractFactory Method
+ static std::string GetName();
+ static XMLStateOffererFactoryBasePtr CreateInstance(StatechartGroupXmlReaderPtr reader);
+ static SubClassRegistry Registry;
+
+
+ };
+}
diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.cpp b/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.cpp
new file mode 100644
index 000000000..c2d0a05c9
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.cpp
@@ -0,0 +1,77 @@
+#include "RequestObjects.h"
+
+//#include <ArmarXCore/core/time/TimeUtil.h>
+//#include <ArmarXCore/observers/variant/DatafieldRef.h>
+
+#include <RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectID.h>
+#include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
+
+#include "ObjectMemoryGroupStatechartContext.generated.h"
+
+namespace armarx::ObjectMemoryGroup
+{
+ // DO NOT EDIT NEXT LINE
+ RequestObjects::SubClassRegistry RequestObjects::Registry(RequestObjects::GetName(), &RequestObjects::CreateInstance);
+
+ RequestObjects::RequestObjects(const XMLStateConstructorParams& stateData):
+ XMLStateTemplate<RequestObjects>(stateData), RequestObjectsGeneratedBase<RequestObjects>(stateData)
+ {
+ }
+
+ void RequestObjects::onEnter()
+ {
+
+ // put your user code for the enter-point here
+ // execution time should be short (<100ms)
+ }
+
+ void RequestObjects::run()
+ {
+ std::vector<std::string> objectIdsString;
+
+ std::vector<armarx::ObjectID> objectIds;
+ for (const std::string& idString : objectIdsString)
+ {
+
+ }
+
+
+ using Reader = armarx::armem::obj::instance::Reader;
+ // put your user code for the execution-phase here
+ // runs in seperate thread, thus can do complex operations
+ // should check constantly whether isRunningTaskStopped() returns true
+
+ auto context = getContext<ObjectMemoryGroupStatechartContext>();
+ armarx::armem::client::MemoryNameSystem mns(getMemoryNameSystem(), context);
+ Reader reader{mns};
+ reader.connect();
+
+ objpose::ObjectPoseStorageInterfacePrx storage = reader.getObjectPoseStorage();
+
+ armarx::objpose::observer::RequestObjectsInput input;
+ input.provider = "";
+ input.request.objectIDs.clear();
+
+ storage->requestObjects(input);
+ }
+
+ //void RequestObjects::onBreak()
+ //{
+ // // put your user code for the breaking point here
+ // // execution time should be short (<100ms)
+ //}
+
+ void RequestObjects::onExit()
+ {
+ // put your user code for the exit point here
+ // execution time should be short (<100ms)
+ }
+
+
+ // DO NOT EDIT NEXT FUNCTION
+ XMLStateFactoryBasePtr RequestObjects::CreateInstance(XMLStateConstructorParams stateData)
+ {
+ return XMLStateFactoryBasePtr(new RequestObjects(stateData));
+ }
+}
diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.h b/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.h
new file mode 100644
index 000000000..439086543
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.generated.h>
+
+namespace armarx::ObjectMemoryGroup
+{
+ class RequestObjects :
+ public RequestObjectsGeneratedBase < RequestObjects >
+ {
+ public:
+ RequestObjects(const XMLStateConstructorParams& stateData);
+
+ // inherited from StateBase
+ void onEnter() override;
+ void run() override;
+ // void onBreak() override;
+ void onExit() override;
+
+ // static functions for AbstractFactory Method
+ static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
+ static SubClassRegistry Registry;
+
+ // DO NOT INSERT ANY CLASS MEMBERS,
+ // use stateparameters instead,
+ // if classmember are neccessary nonetheless, reset them in onEnter
+ };
+}
diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.xml b/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.xml
new file mode 100644
index 000000000..b3c13fed9
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.2" name="RequestObjects" uuid="9F09FB2F-CC0C-4B8A-A716-F130E04A7230" width="800" height="600" type="Normal State">
+ <InputParameters/>
+ <OutputParameters/>
+ <LocalParameters/>
+ <Substates>
+ <EndState name="Failure" event="Failure" left="212.8" top="177.1" boundingSquareSize="100"/>
+ <EndState name="Success" event="Success" left="213.78" top="424.2" boundingSquareSize="100"/>
+ </Substates>
+ <Events>
+ <Event name="Failure">
+ <Description>Event for statechart-internal failures or optionally user-code failures</Description>
+ </Event>
+ </Events>
+ <StartState substateName="Success">
+ <ParameterMappings/>
+ <SupportPoints/>
+ </StartState>
+ <Transitions/>
+</State>
+
--
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