Created Grasp Memory Server (WIP)

source/RobotAPI/components/armem/CMakeLists.txt

@@ -3,6 +3,7 @@ add_subdirectory(server/ExampleMemory)
 add_subdirectory(server/GeneralPurposeMemory)
 add_subdirectory(server/RobotSensorMemory)
 add_subdirectory(server/SkillsMemory)
+add_subdirectory(server/GraspMemory)
 
 # memory server addons
 

source/RobotAPI/components/armem/server/GraspMemory/CMakeLists.txt

+armarx_component_set_name("GraspMemory")
+
+
+set(COMPONENT_LIBS
+    ArmarXCore ArmarXCoreInterfaces  # for DebugObserverInterface
+    ArmarXGuiComponentPlugins
+    RobotAPICore RobotAPIInterfaces armem
+    # RobotAPIComponentPlugins  # for ArViz and other plugins
+
+    ${IVT_LIBRARIES}
+)
+
+set(SOURCES
+    GraspMemory.cpp
+)
+set(HEADERS
+    GraspMemory.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+#generate the application
+armarx_generate_and_add_component_executable()
+
+
+

source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.cpp

+
+#include "GraspMemory.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <SimoxUtility/algorithm/string.h>
+
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
+
+#include <RobotAPI/libraries/GraspingUtility/aron/GraspAffordance.aron.generated.h>
+
+namespace armarx
+{
+    armarx::PropertyDefinitionsPtr GraspMemory::createPropertyDefinitions()
+    {
+        armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+
+        defs->topic(debugObserver);
+
+        defs->optional(p.memoryName, "memory.Name", "Name of this memory server.");
+
+        p.core._defaultSegmentsStr = simox::alg::join(p.core.defaultCoreSegments, ", ");
+        defs->optional(p.core._defaultSegmentsStr, "core.DefaultSegments",
+                       "Core segments to add on start up (just as Grasp).");
+        defs->optional(p.core.addOnUsage, "core.AddOnUsage",
+                       "If enabled, core segments are added when required by a new provider segment."
+                       "This will usually be off for most memory servers.");
+
+        return defs;
+    }
+
+
+    std::string GraspMemory::getDefaultName() const
+    {
+        return "GraspMemory";
+    }
+
+    void GraspMemory::onInitComponent()
+    {
+        memory.name() = p.memoryName;
+
+        // Usually, the memory server will specify a number of core segments with a specific aron type.
+        memory.addCoreSegment("GraspAffordance", armarx::grasping::arondto::GraspCandidate::toInitialAronType());
+
+        // For illustration purposes, we add more segments (without types).
+        bool trim = true;
+        p.core.defaultCoreSegments = simox::alg::split(p.core._defaultSegmentsStr, ",", trim);
+        p.core._defaultSegmentsStr.clear();
+        memory.addCoreSegments(p.core.defaultCoreSegments);
+    }
+
+    void GraspMemory::onConnectComponent()
+    {
+        RemoteGui__createTab();
+        RemoteGui_startRunningTask();
+    }
+
+    void GraspMemory::onDisconnectComponent()
+    {
+    }
+
+    void GraspMemory::onExitComponent()
+    {
+    }
+
+
+
+    // WRITING
+
+    armem::data::AddSegmentsResult GraspMemory::addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&)
+    {
+        // This function is overloaded to trigger the remote gui rebuild.
+        armem::data::AddSegmentsResult result = ComponentPluginUser::addSegments(input, p.core.addOnUsage);
+        tab.rebuild = true;
+        return result;
+    }
+
+
+    armem::data::CommitResult GraspMemory::commit(const armem::data::Commit& commit, const Ice::Current&)
+    {
+        // This function is overloaded to trigger the remote gui rebuild.
+        armem::data::CommitResult result = ComponentPluginUser::commit(commit);
+        tab.rebuild = true;
+        return result;
+    }
+
+
+    // READING
+
+    // Inherited from Plugin
+
+
+
+    // REMOTE GUI
+
+    void GraspMemory::RemoteGui__createTab()
+    {
+        using namespace armarx::RemoteGui::Client;
+
+        {
+            std::scoped_lock lock(memoryMutex);
+            tab.memoryGroup = armem::server::MemoryRemoteGui().makeGroupBox(memory);
+        }
+
+        VBoxLayout root = {tab.memoryGroup, VSpacer()};
+        RemoteGui_createTab(getName(), root, &tab);
+    }
+
+
+    void GraspMemory::RemoteGui_update()
+    {
+        if (tab.rebuild.exchange(false))
+        {
+            RemoteGui__createTab();
+        }
+    }
+
+}

source/RobotAPI/components/armem/server/GraspMemory/GraspMemory.h

+#pragma once
+
+
+#include <ArmarXCore/core/Component.h>
+
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+
+#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+
+namespace armarx
+{
+    /**
+     * @defgroup Component-ExampleMemory ExampleMemory
+     * @ingroup RobotAPI-Components
+     * A description of the component ExampleMemory.
+     *
+     * @class ExampleMemory
+     * @ingroup Component-ExampleMemory
+     * @brief Brief description of class ExampleMemory.
+     *
+     * Detailed description of class ExampleMemory.
+     */
+    class GraspMemory :
+        virtual public armarx::Component
+        , virtual public armem::server::ComponentPluginUser
+        , virtual public LightweightRemoteGuiComponentPluginUser
+    // , virtual public armarx::ArVizComponentPluginUser
+    {
+    public:
+
+        /// @see armarx::ManagedIceObject::getDefaultName()
+        std::string getDefaultName() const override;
+
+
+        // WritingInterface interface
+    public:
+        armem::data::AddSegmentsResult addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&) override;
+        armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current&) override;
+
+
+        // LightweightRemoteGuiComponentPluginUser interface
+    public:
+        void RemoteGui__createTab();
+        void RemoteGui_update() override;
+
+
+    protected:
+
+        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+        void onInitComponent() override;
+        void onConnectComponent() override;
+        void onDisconnectComponent() override;
+        void onExitComponent() override;
+
+
+    private:
+
+        armarx::DebugObserverInterfacePrx debugObserver;
+
+        struct Properties
+        {
+            std::string memoryName = "Grasp";
+
+            struct CoreSegments
+            {
+                std::vector<std::string> defaultCoreSegments = { "GraspModality", "GraspConcept" };
+                std::string _defaultSegmentsStr;
+                bool addOnUsage = false;
+            };
+
+            CoreSegments core;
+        };
+        Properties p;
+
+
+        struct RemoteGuiTab : RemoteGui::Client::Tab
+        {
+            std::atomic_bool rebuild = false;
+
+            RemoteGui::Client::GroupBox memoryGroup;
+        };
+        RemoteGuiTab tab;
+
+    };
+}

source/RobotAPI/libraries/GraspingUtility/aron/GraspAffordance.xml

@@ -91,7 +91,7 @@
             </ObjectChild>
         </Object>
 
-        <Object name='armarx::objpose::arondto::GraspCandidate'>
+        <Object name='armarx::grasping::arondto::GraspCandidate'>
 
             <ObjectChild key='graspPose'>
                 <EigenMatrix rows="4" cols="4" type="float" />
@@ -156,7 +156,7 @@
 
         </Object>
 
-        <Object name='armarx::objpose::arondto::BimanualGraspCandidate'>
+        <Object name='armarx::grasping::arondto::BimanualGraspCandidate'>
 
             <ObjectChild key='graspPoseRight'>
                 <EigenMatrix rows="4" cols="4" type="float" />