Add ObjectMemoryGroup statechart group and state RequestObjects (WIP)

source/RobotAPI/statecharts/CMakeLists.txt

@@ -13,3 +13,5 @@ add_subdirectory(StatechartExecutionGroup)
 
 add_subdirectory(ProsthesisKinestheticTeachIn)
 add_subdirectory(DebugDrawerToArVizGroup)
+
+add_subdirectory(ObjectMemoryGroup)

source/RobotAPI/statecharts/ObjectMemoryGroup/CMakeLists.txt

+# 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}")

source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroup.scgxml

+<?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>
+

source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroupRemoteStateOfferer.cpp

+#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));
+    }
+}

source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroupRemoteStateOfferer.h

+#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;
+
+
+    };
+}

source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.cpp

+#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));
+    }
+}

source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.h

+#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
+    };
+}

source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.xml

+<?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>
+