Add and implement component RobotToArViz

source/RobotAPI/components/CMakeLists.txt

@@ -14,6 +14,7 @@ add_subdirectory(NaturalIKTest)
 add_subdirectory(RobotHealth)
 add_subdirectory(RobotNameService)
 add_subdirectory(RobotState)
+add_subdirectory(RobotToArViz)
 add_subdirectory(StatechartExecutorExample)
 add_subdirectory(TopicTimingTest)
 add_subdirectory(ViewSelection)

source/RobotAPI/components/RobotToArViz/CMakeLists.txt

+armarx_component_set_name("RobotToArViz")
+
+
+set(COMPONENT_LIBS
+    ArmarXCore
+    RobotAPIComponentPlugins
+)
+
+set(SOURCES
+    RobotToArViz.cpp
+)
+set(HEADERS
+    RobotToArViz.h
+)
+
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+# all target_include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+#    target_include_directories(RobotToArViz PUBLIC ${MyLib_INCLUDE_DIRS})
+#endif()
+
+# add unit tests
+add_subdirectory(test)
+
+
+armarx_component_set_name("RobotToArVizApp")
+set(COMPONENT_LIBS RobotToArViz)
+armarx_add_component_executable(main.cpp)
+
+

source/RobotAPI/components/RobotToArViz/RobotToArViz.cpp

+/*
+ * 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::RobotToArViz
+ * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date       2020
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "RobotToArViz.h"
+
+#include <ArmarXCore/core/time/CycleUtil.h>
+
+
+namespace armarx
+{
+    RobotToArVizPropertyDefinitions::RobotToArVizPropertyDefinitions(std::string prefix) :
+        armarx::ComponentPropertyDefinitions(prefix)
+    {
+    }
+
+    armarx::PropertyDefinitionsPtr RobotToArViz::createPropertyDefinitions()
+    {
+        armarx::PropertyDefinitionsPtr defs(new RobotToArVizPropertyDefinitions(getConfigIdentifier()));
+
+        defs->optional(updateFrequency, "updateFrequency", "Target number of updates per second.");
+
+        return defs;
+    }
+
+
+    std::string RobotToArViz::getDefaultName() const
+    {
+        return "RobotToArViz";
+    }
+
+
+    void RobotToArViz::onInitComponent()
+    {
+    }
+
+
+    void RobotToArViz::onConnectComponent()
+    {
+        // Load robot.
+        this->robot = RobotState::addRobot(robotName, VirtualRobot::RobotIO::RobotDescription::eStructure);
+
+        // Initialize robot visu element.
+        this->robotViz = viz::Robot(robot->getName()).file("", robot->getFilename());
+
+        task = new SimplePeriodicTask<>([this]()
+        {
+            this->updateRobot();
+        }, int(1000 / updateFrequency));
+        task->start();
+    }
+
+
+    void RobotToArViz::onDisconnectComponent()
+    {
+        task->stop();
+        task = nullptr;
+    }
+
+
+    void RobotToArViz::onExitComponent()
+    {
+    }
+
+
+    void RobotToArViz::updateRobot()
+    {
+        RobotState::synchronizeLocalClone(robotName);
+
+        robotViz.joints(robot->getConfig()->getRobotNodeJointValueMap())
+                .pose(robot->getGlobalPose());
+
+        arviz.commitLayerContaining(robot->getName(), robotViz);
+    }
+}

source/RobotAPI/components/RobotToArViz/RobotToArViz.h

+/*
+ * 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::RobotToArViz
+ * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date       2020
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/services/tasks/TaskUtil.h>
+
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>
+
+
+namespace armarx
+{
+    /**
+     * @class RobotToArVizPropertyDefinitions
+     * @brief Property definitions of `RobotToArViz`.
+     */
+    class RobotToArVizPropertyDefinitions :
+        public armarx::ComponentPropertyDefinitions
+    {
+    public:
+        RobotToArVizPropertyDefinitions(std::string prefix);
+    };
+
+
+
+    /**
+     * @defgroup Component-RobotToArViz RobotToArViz
+     * @ingroup RobotAPI-Components
+     *
+     * Visualizes a robot via ArViz.
+     *
+     * @class RobotToArViz
+     * @ingroup Component-RobotToArViz
+     * @brief Brief description of class RobotToArViz.
+     *
+     * Detailed description of class RobotToArViz.
+     */
+    class RobotToArViz :
+        virtual public armarx::Component,
+        virtual public armarx::ArVizComponentPluginUser,
+        virtual public armarx::RobotStateComponentPluginUser
+    {
+        using RobotState = RobotStateComponentPluginUser;
+
+    public:
+
+        /// @see armarx::ManagedIceObject::getDefaultName()
+        std::string getDefaultName() const override;
+
+
+    protected:
+
+        /// @see armarx::ManagedIceObject::onInitComponent()
+        void onInitComponent() override;
+
+        /// @see armarx::ManagedIceObject::onConnectComponent()
+        void onConnectComponent() override;
+
+        /// @see armarx::ManagedIceObject::onDisconnectComponent()
+        void onDisconnectComponent() override;
+
+        /// @see armarx::ManagedIceObject::onExitComponent()
+        void onExitComponent() override;
+
+        /// @see PropertyUser::createPropertyDefinitions()
+        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+
+    private:
+
+        void updateRobot();
+
+
+    private:
+
+        float updateFrequency = 100;
+        SimplePeriodicTask<>::pointer_type task;
+
+        std::string robotName = "robot";
+
+        VirtualRobot::RobotPtr robot;
+
+        viz::Robot robotViz { "" };
+
+    };
+}

source/RobotAPI/components/RobotToArViz/main.cpp

+/*
+ * 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    OML::application::SceneVisualizer
+ * @author     Fabian Paus ( fabian dot paus at kit dot edu )
+ * @date       2019
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include <RobotAPI/components/RobotToArViz/RobotToArViz.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+
+int main(int argc, char* argv[])
+{
+    return armarx::runSimpleComponentApp < armarx::RobotToArViz > (argc, argv, "RobotToArViz");
+}

source/RobotAPI/components/RobotToArViz/test/CMakeLists.txt

+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore RobotToArViz)
+ 
+armarx_add_test(RobotToArVizTest RobotToArVizTest.cpp "${LIBS}")

source/RobotAPI/components/RobotToArViz/test/RobotToArVizTest.cpp

+/*
+ * 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::RobotToArViz
+ * @author     Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date       2020
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::RobotToArViz
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include <RobotAPI/components/RobotToArViz/RobotToArViz.h>
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+    armarx::RobotToArViz instance;
+
+    BOOST_CHECK_EQUAL(true, true);
+}