diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
index 0a77d4d0fe8e77557a5fb4659b52aa9b1be23035..81a0fc03092bbbe67c476d3e5f2146a28d62517a 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
@@ -74,6 +74,11 @@ namespace armarx::armem::obj::instance
return this->p;
}
+ objpose::ObjectPoseStorageInterfacePrx getObjectPoseStorage() const
+ {
+ return objPoseStorage;
+ }
+
private:
Properties p;
diff --git a/source/RobotAPI/statecharts/CMakeLists.txt b/source/RobotAPI/statecharts/CMakeLists.txt
index 006016c5daa24d555c8a5d9537b8bfbbd0c96229..33340476f9568dce65fbd43bcd3f745f80df32f6 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 0000000000000000000000000000000000000000..a751e89b2566ed34fadcfa9c04943088955c1d5e
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/CMakeLists.txt
@@ -0,0 +1,31 @@
+# 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
+ # RobotAPI
+ RobotAPIArmarXObjects
+ armem_objects
+)
+
+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 0000000000000000000000000000000000000000..48baf4ecf018d470ff57d6bfc11ed9011882dbb4
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroup.scgxml
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<StatechartGroup name="ObjectMemoryGroup" package="RobotAPI" generateContext="true">
+ <Proxies>
+ <Proxy value="RobotAPIInterfaces.MemoryNameSystem"/>
+ </Proxies>
+ <Folder basename="test">
+ <State filename="RequestObjectsTest.xml"/>
+ </Folder>
+ <State filename="RequestObjects.xml" visibility="public"/>
+</StatechartGroup>
+
diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroupRemoteStateOfferer.cpp b/source/RobotAPI/statecharts/ObjectMemoryGroup/ObjectMemoryGroupRemoteStateOfferer.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1324dfff62f4a6ec3df04e61d451f062125a50c8
--- /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 0000000000000000000000000000000000000000..882627aec09b55c16b4b0f07fe313c0138392368
--- /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 0000000000000000000000000000000000000000..2142038a7b9b501ceb397ac914e91e6fc52f4cbb
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.cpp
@@ -0,0 +1,127 @@
+#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()
+ {
+ using Reader = armarx::armem::obj::instance::Reader;
+
+ const std::string provider = in.isProviderSet() ? in.getProvider() : "";
+
+ const std::vector<std::string> objectIdsString = in.getObjectIds();
+ const armarx::Duration relativeTimeout = armarx::Duration::MilliSeconds(in.getRelativeTimeoutMilliseconds());
+
+ std::stringstream info;
+ std::stringstream warn;
+
+ std::vector<armarx::ObjectID> objectIds;
+ for (const std::string& idString : objectIdsString)
+ {
+ try
+ {
+ armarx::ObjectID id = armarx::ObjectID::FromString(idString);
+ objectIds.push_back(id);
+ info << "Requesting object " << id << "\n";
+ }
+ catch (const armarx::LocalException& e)
+ {
+ warn << "\nGiven object ID '" << idString << "' could not parsed as ObjectID: " << e.what();
+ }
+ }
+
+ 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 = provider;
+ for (const armarx::ObjectID& id : objectIds)
+ {
+ armarx::toIce(input.request.objectIDs.emplace_back(), id);
+ }
+ input.request.relativeTimeoutMS = relativeTimeout.toMilliSeconds();
+
+
+ objpose::observer::RequestObjectsOutput output;
+ try
+ {
+ output = storage->requestObjects(input);
+ }
+ catch (const Ice::Exception& e)
+ {
+ ARMARX_WARNING << "Failed to request object localization: " << e.what();
+ emitFailure();
+ return;
+ }
+
+ for (const auto& [id, result] : output.results)
+ {
+ if (result.result.success)
+ {
+ info << "Requested object " << id << " via provider '" << result.providerName << "'.\n";
+ }
+ else
+ {
+ warn << "\nFailed to request the object " << id << " for localization.";
+ }
+ }
+
+ if (not info.str().empty())
+ {
+ ARMARX_INFO << info.str();
+ }
+ if (not warn.str().empty())
+ {
+ ARMARX_WARNING << "The following issues occurred whhen requesting objects for localization:"
+ << warn.str();
+ }
+
+ emitSuccess();
+ }
+
+ //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 0000000000000000000000000000000000000000..4390865434749d591d6082df003c55e3b8560cd6
--- /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 0000000000000000000000000000000000000000..12a5c8bf4360f3c743dfa411a1aee51a396426b9
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/RequestObjects.xml
@@ -0,0 +1,19 @@
+<?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>
+ <Parameter name="ObjectIds" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" docType="List(string)" optional="no"/>
+ <Parameter name="Provider" type="::armarx::StringVariantData" docType="string" optional="yes"/>
+ <Parameter name="RelativeTimeoutMilliseconds" type="::armarx::IntVariantData" docType="int" optional="no"/>
+ </InputParameters>
+ <OutputParameters/>
+ <LocalParameters/>
+ <Substates/>
+ <Events>
+ <Event name="Failure">
+ <Description>Event for statechart-internal failures or optionally user-code failures</Description>
+ </Event>
+ <Event name="Success"/>
+ </Events>
+ <Transitions/>
+</State>
+
diff --git a/source/RobotAPI/statecharts/ObjectMemoryGroup/test/RequestObjectsTest.xml b/source/RobotAPI/statecharts/ObjectMemoryGroup/test/RequestObjectsTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fa73294aa874b1dc997a182169fe48eb2cee4c3c
--- /dev/null
+++ b/source/RobotAPI/statecharts/ObjectMemoryGroup/test/RequestObjectsTest.xml
@@ -0,0 +1,67 @@
+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.2" name="RequestObjectsTest" uuid="E74E1D8D-2E97-4846-9282-73AC4F49FAEE" width="493.167" height="355.278" type="Normal State">
+ <InputParameters>
+ <Parameter name="ObjectIds" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" docType="List(string)" optional="no">
+ <DefaultValue value='{"array":[{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Maintenance/spraybottle"}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Maintenance/handwash-paste"}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Maintenance/mounting-adhesive"}},{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"Maintenance/multipurpose-grease"}}],"type":"::armarx::SingleTypeVariantListBase"}' docValue="Maintenance/spraybottle\nMaintenance/handwash-paste\nMaintenance/mounting-adhesive\nMaintenance/multipurpose-grease"/>
+ </Parameter>
+ <Parameter name="Provider" type="::armarx::StringVariantData" docType="string" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"sim_track"}}' docValue="sim_track"/>
+ </Parameter>
+ <Parameter name="RelativeTimeoutMilliseconds" type="::armarx::IntVariantData" docType="int" optional="no">
+ <DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::IntVariantData","value":10000}}' docValue="10000"/>
+ </Parameter>
+ </InputParameters>
+ <OutputParameters/>
+ <LocalParameters/>
+ <Substates>
+ <EndState name="Failure" event="Failure" left="363.333" top="140.056" boundingSquareSize="99.6636"/>
+ <LocalState name="RequestObjects" refuuid="9F09FB2F-CC0C-4B8A-A716-F130E04A7230" left="114.167" top="196.278" boundingSquareSize="99.6636"/>
+ <EndState name="Success" event="Success" left="363.333" top="250.53" boundingSquareSize="99.6636"/>
+ </Substates>
+ <Events>
+ <Event name="Failure">
+ <Description>Event for statechart-internal failures or optionally user-code failures</Description>
+ </Event>
+ </Events>
+ <StartState substateName="RequestObjects">
+ <ParameterMappings>
+ <ParameterMapping sourceType="Parent" from="ObjectIds" to="ObjectIds"/>
+ <ParameterMapping sourceType="Parent" from="Provider" to="Provider"/>
+ <ParameterMapping sourceType="Parent" from="RelativeTimeoutMilliseconds" to="RelativeTimeoutMilliseconds"/>
+ </ParameterMappings>
+ <SupportPoints>
+ <SupportPoint posX="67.1067" posY="233.278"/>
+ <SupportPoint posX="76.5839" posY="233.278"/>
+ <SupportPoint posX="88.7241" posY="233.278"/>
+ <SupportPoint posX="101.186" posY="233.278"/>
+ </SupportPoints>
+ </StartState>
+ <Transitions>
+ <Transition from="RequestObjects" to="Failure" eventName="Failure">
+ <ParameterMappings/>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="214.588" posY="221.9"/>
+ <SupportPoint posX="253.892" posY="213.031"/>
+ <SupportPoint posX="308.683" posY="200.669"/>
+ <SupportPoint posX="350.786" posY="191.175"/>
+ </SupportPoints>
+ </Transition>
+ <Transition from="RequestObjects" to="Success" eventName="Success">
+ <ParameterMappings/>
+ <ParameterMappingsToParentsLocal/>
+ <ParameterMappingsToParentsOutput/>
+ <SupportPoints>
+ <SupportPoint posX="214.358" posY="252.153"/>
+ <SupportPoint posX="221.884" posY="254.613"/>
+ <SupportPoint posX="229.602" posY="256.935"/>
+ <SupportPoint posX="237" posY="258.833"/>
+ <SupportPoint posX="274.158" posY="268.372"/>
+ <SupportPoint posX="316.529" posY="275.551"/>
+ <SupportPoint posX="350.428" posY="280.424"/>
+ </SupportPoints>
+ </Transition>
+ </Transitions>
+</State>
+