VirtualRobotReaderExampleClient to test new "RobotStateComponent"

source/RobotAPI/components/armem/client/CMakeLists.txt

 add_subdirectory(ExampleMemoryClient)
 add_subdirectory(ArticulatedObjectExampleMemoryWriterClient)
+add_subdirectory(VirtualRobotReaderExampleClient)

source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/CMakeLists.txt

+armarx_component_set_name("VirtualRobotReaderExampleClient")
+
+find_package(IVT QUIET)
+armarx_build_if(IVT_FOUND "IVT not available")
+
+set(COMPONENT_LIBS
+    ArmarXCore 
+    ArmarXCoreInterfaces  # for DebugObserverInterface
+    ArmarXGuiComponentPlugins
+    RobotAPICore 
+    RobotAPIInterfaces 
+    armem_robot_state
+)
+
+set(SOURCES
+    VirtualRobotReaderExampleClient.cpp
+)
+
+set(HEADERS
+    VirtualRobotReaderExampleClient.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+# add unit tests
+# add_subdirectory(test)
+
+#generate the application
+armarx_generate_and_add_component_executable(COMPONENT_NAMESPACE "armarx::robot_state")

source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp

+
+
+#include "VirtualRobotReaderExampleClient.h"
+
+
+#include <memory>
+
+#include <Eigen/Geometry>
+
+#include <IceUtil/Time.h>
+
+#include <VirtualRobot/Robot.h>
+#include <VirtualRobot/XML/RobotIO.h>
+#include <VirtualRobot/VirtualRobot.h>
+
+#include <ArmarXCore/core/PackagePath.h>
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/time/CycleUtil.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/TimeUtil.h>
+
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
+#include <RobotAPI/libraries/armem/client/query/query_fns.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/ice_conversions.h>
+#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
+
+
+namespace armarx::robot_state
+{
+    VirtualRobotReaderExampleClient::VirtualRobotReaderExampleClient() :
+        virtualRobotReader(*this) {}
+
+    armarx::PropertyDefinitionsPtr VirtualRobotReaderExampleClient::createPropertyDefinitions()
+    {
+        armarx::PropertyDefinitionsPtr defs =
+            new ComponentPropertyDefinitions(getConfigIdentifier());
+
+        defs->topic(debugObserver);
+
+        virtualRobotReader.registerPropertyDefinitions(defs);
+
+        return defs;
+    }
+
+    std::string VirtualRobotReaderExampleClient::getDefaultName() const
+    {
+        return "VirtualRobotReaderExampleClient";
+    }
+
+    void VirtualRobotReaderExampleClient::onInitComponent() {}
+
+    void VirtualRobotReaderExampleClient::onConnectComponent()
+    {
+        virtualRobotReader.connect();
+
+        task = new RunningTask<VirtualRobotReaderExampleClient>(this, &VirtualRobotReaderExampleClient::run);
+        task->start();
+    }
+
+    void VirtualRobotReaderExampleClient::onDisconnectComponent()
+    {
+        task->stop();
+    }
+
+    void VirtualRobotReaderExampleClient::onExitComponent() {}
+
+    void VirtualRobotReaderExampleClient::run()
+    {
+        ARMARX_IMPORTANT << "Running virtual robot synchronization example.";
+
+        std::shared_ptr<VirtualRobot::Robot> virtualRobot{nullptr};
+
+        CycleUtil cycle(IceUtil::Time::milliSeconds(100));
+        IceUtil::Time start = TimeUtil::GetTime();
+
+        CycleUtil c(100);
+
+        while (not task->isStopped())
+        {
+            // initialize
+            if(virtualRobot == nullptr)
+            {
+                TIMING_START(getRobot);
+
+                virtualRobot = virtualRobotReader.getRobot("Armar6", IceUtil::Time::now());
+
+                if(virtualRobot == nullptr)
+                {
+                    ARMARX_WARNING << "Could not create virtual robot.";
+                    c.waitForCycleDuration();
+                    continue;
+                }
+                // only print timing once the robot is loadable & loaded
+                TIMING_END_STREAM(getRobot, ARMARX_INFO);
+            }
+
+            ARMARX_INFO << "Synchronizing robot";
+
+            const IceUtil::Time now = TimeUtil::GetTime();
+
+            TIMING_START(synchronizeRobot);
+            virtualRobotReader.synchronizeRobot(*virtualRobot, now);
+            TIMING_END_STREAM(synchronizeRobot, ARMARX_INFO);
+
+            c.waitForCycleDuration();
+        }
+    }
+
+}  // namespace armarx::robot_state

source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.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/>.
+ *
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+
+// ArmarX
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+#include <ArmarXCore/util/tasks.h>
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+
+// RobotAPI
+#include <RobotAPI/interface/armem/server/MemoryInterface.h>
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Memory.h>
+
+#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
+
+namespace armarx::robot_state
+{
+
+    /**
+     * @defgroup Component-ExampleClient ExampleClient
+     * @ingroup RobotAPI-Components
+     * A description of the component ExampleClient.
+     *
+     * @class ExampleClient
+     * @ingroup Component-ExampleClient
+     * @brief Brief description of class ExampleClient.
+     *
+     * Detailed description of class ExampleClient.
+     */
+    class VirtualRobotReaderExampleClient :
+        virtual public armarx::Component,
+        virtual public armarx::armem::client::ComponentPluginUser
+    {
+    public:
+        VirtualRobotReaderExampleClient();
+
+        /// @see armarx::ManagedIceObject::getDefaultName()
+        std::string getDefaultName() const override;
+
+    protected:
+
+        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+        void onInitComponent() override;
+        void onConnectComponent() override;
+        void onDisconnectComponent() override;
+        void onExitComponent() override;
+
+        void run();
+
+
+    private:
+
+        armarx::RunningTask<VirtualRobotReaderExampleClient>::pointer_type task;
+
+        armarx::DebugObserverInterfacePrx debugObserver;
+
+        // std::unique_ptr<::armarx::armem::articulated_object::Writer> articulatedObjectWriter;
+
+        armem::robot_state::VirtualRobotReader virtualRobotReader;
+
+    };
+
+}  // namespace armarx::robot_state