Add statechart group

source/RobotAPI/statecharts/CMakeLists.txt

@@ -11,4 +11,5 @@ add_subdirectory(ForceTorqueUtility)
 add_subdirectory(RobotNameHelperTestGroup)
 add_subdirectory(StatechartExecutionGroup)
 
-add_subdirectory(ProsthesisKinestheticTeachIn)
\ No newline at end of file
+add_subdirectory(ProsthesisKinestheticTeachIn)
+add_subdirectory(DebugDrawerToArVizGroup)

source/RobotAPI/statecharts/DebugDrawerToArVizGroup/CMakeLists.txt

+armarx_component_set_name("DebugDrawerToArVizGroup")
+
+
+#find_package(Simox QUIET)
+#armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
+
+set(COMPONENT_LIBS
+#   VirtualRobot
+    )
+
+# Sources
+
+set(SOURCES
+DebugDrawerToArVizGroupRemoteStateOfferer.cpp
+)
+
+set(HEADERS
+DebugDrawerToArVizGroupRemoteStateOfferer.h
+DebugDrawerToArVizGroup.scgxml
+)
+
+# adds all existing state headers and sources to CMake
+armarx_generate_statechart_cmake_lists()
+
+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(DebugDrawerToArVizGroup PUBLIC ${MyLib_INCLUDE_DIRS})
+#endif()

source/RobotAPI/statecharts/DebugDrawerToArVizGroup/DebugDrawerToArVizGroup.scgxml

+<?xml version="1.0" encoding="utf-8"?>
+<StatechartGroup name="DebugDrawerToArVizGroup" package="RobotAPI" generateContext="true">
+	<Proxies>
+		<Proxy value="RobotAPIInterfaces.debugDrawerToArVizLayerBlackWhitelist"/>
+	</Proxies>
+	<Configurations/>
+	<State filename="UpateLayerBlackWhitelist.xml" visibility="public"/>
+</StatechartGroup>
+

source/RobotAPI/statecharts/DebugDrawerToArVizGroup/DebugDrawerToArVizGroupRemoteStateOfferer.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::DebugDrawerToArVizGroup::DebugDrawerToArVizGroupRemoteStateOfferer
+ * @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 "DebugDrawerToArVizGroupRemoteStateOfferer.h"
+
+namespace armarx::DebugDrawerToArVizGroup
+{
+    // DO NOT EDIT NEXT LINE
+    DebugDrawerToArVizGroupRemoteStateOfferer::SubClassRegistry DebugDrawerToArVizGroupRemoteStateOfferer::Registry(DebugDrawerToArVizGroupRemoteStateOfferer::GetName(), &DebugDrawerToArVizGroupRemoteStateOfferer::CreateInstance);
+
+    DebugDrawerToArVizGroupRemoteStateOfferer::DebugDrawerToArVizGroupRemoteStateOfferer(StatechartGroupXmlReaderPtr reader) :
+        XMLRemoteStateOfferer < DebugDrawerToArVizGroupStatechartContext > (reader)
+    {}
+
+    void DebugDrawerToArVizGroupRemoteStateOfferer::onInitXMLRemoteStateOfferer() {}
+
+    void DebugDrawerToArVizGroupRemoteStateOfferer::onConnectXMLRemoteStateOfferer() {}
+
+    void DebugDrawerToArVizGroupRemoteStateOfferer::onExitXMLRemoteStateOfferer() {}
+
+    // DO NOT EDIT NEXT FUNCTION
+    std::string DebugDrawerToArVizGroupRemoteStateOfferer::GetName()
+    {
+        return "DebugDrawerToArVizGroupRemoteStateOfferer";
+    }
+
+    // DO NOT EDIT NEXT FUNCTION
+    XMLStateOffererFactoryBasePtr DebugDrawerToArVizGroupRemoteStateOfferer::CreateInstance(StatechartGroupXmlReaderPtr reader)
+    {
+        return XMLStateOffererFactoryBasePtr(new DebugDrawerToArVizGroupRemoteStateOfferer(reader));
+    }
+}

source/RobotAPI/statecharts/DebugDrawerToArVizGroup/DebugDrawerToArVizGroupRemoteStateOfferer.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::DebugDrawerToArVizGroup
+ * @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/statechart/xmlstates/XMLRemoteStateOfferer.h>
+#include "DebugDrawerToArVizGroupStatechartContext.generated.h"
+
+namespace armarx::DebugDrawerToArVizGroup
+{
+    class DebugDrawerToArVizGroupRemoteStateOfferer :
+        virtual public XMLRemoteStateOfferer < DebugDrawerToArVizGroupStatechartContext > // Change this statechart context if you need another context (dont forget to change in the constructor as well)
+    {
+    public:
+        DebugDrawerToArVizGroupRemoteStateOfferer(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/DebugDrawerToArVizGroup/UpateLayerBlackWhitelist.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::DebugDrawerToArVizGroup
+ * @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 "UpateLayerBlackWhitelist.h"
+
+//#include <ArmarXCore/core/time/TimeUtil.h>
+//#include <ArmarXCore/observers/variant/DatafieldRef.h>
+
+namespace armarx::DebugDrawerToArVizGroup
+{
+    // DO NOT EDIT NEXT LINE
+    UpateLayerBlackWhitelist::SubClassRegistry UpateLayerBlackWhitelist::Registry(UpateLayerBlackWhitelist::GetName(), &UpateLayerBlackWhitelist::CreateInstance);
+
+    void UpateLayerBlackWhitelist::onEnter()
+    {
+        // put your user code for the enter-point here
+        // execution time should be short (<100ms)
+
+        armarx::BlackWhitelistUpdate update;
+        update.blacklist.clear = in.getClearBlacklist();
+        update.blacklist.add = in.getAddToBlacklist();
+        update.blacklist.set = in.getSetBlacklist();
+        update.whitelist.clear = in.getClearWhitelist();
+        update.whitelist.add = in.getAddToWhitelist();
+        update.whitelist.set = in.getSetWhitelist();
+
+        getDebugDrawerToArVizLayerBlackWhitelist()->updateBlackWhiteList(update);
+
+        emitSuccess();
+    }
+
+    //void UpateLayerBlackWhitelist::run()
+    //{
+    //    // 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
+    //
+    //    // get a private kinematic instance for this state of the robot (tick "Robot State Component" proxy checkbox in statechart group)
+    //    VirtualRobot::RobotPtr robot = getLocalRobot();
+    //
+    //// uncomment this if you need a continous run function. Make sure to use sleep or use blocking wait to reduce cpu load.
+    //    while (!isRunningTaskStopped()) // stop run function if returning true
+    //    {
+    //        // do your calculations
+    //        // synchronize robot clone to most recent state
+    //        RemoteRobot::synchronizeLocalClone(robot, getRobotStateComponent());
+    //    }
+    //}
+
+    //void UpateLayerBlackWhitelist::onBreak()
+    //{
+    //    // put your user code for the breaking point here
+    //    // execution time should be short (<100ms)
+    //}
+
+    void UpateLayerBlackWhitelist::onExit()
+    {
+        // put your user code for the exit point here
+        // execution time should be short (<100ms)
+    }
+
+
+    // DO NOT EDIT NEXT FUNCTION
+    XMLStateFactoryBasePtr UpateLayerBlackWhitelist::CreateInstance(XMLStateConstructorParams stateData)
+    {
+        return XMLStateFactoryBasePtr(new UpateLayerBlackWhitelist(stateData));
+    }
+}

source/RobotAPI/statecharts/DebugDrawerToArVizGroup/UpateLayerBlackWhitelist.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::DebugDrawerToArVizGroup
+ * @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 <RobotAPI/statecharts/DebugDrawerToArVizGroup/UpateLayerBlackWhitelist.generated.h>
+
+namespace armarx::DebugDrawerToArVizGroup
+{
+    class UpateLayerBlackWhitelist :
+        public UpateLayerBlackWhitelistGeneratedBase < UpateLayerBlackWhitelist >
+    {
+    public:
+        UpateLayerBlackWhitelist(const XMLStateConstructorParams& stateData):
+            XMLStateTemplate < UpateLayerBlackWhitelist > (stateData), UpateLayerBlackWhitelistGeneratedBase < UpateLayerBlackWhitelist > (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/DebugDrawerToArVizGroup/UpateLayerBlackWhitelist.xml

+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.2" name="UpateLayerBlackWhitelist" uuid="E175EAE8-47AD-40B8-8BFB-7BB10F4D38FE" width="800" height="600" type="Normal State">
+	<InputParameters>
+		<Parameter name="AddToBlacklist" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" docType="List(string)" optional="no">
+			<DefaultValue value='{"array":[],"type":"::armarx::SingleTypeVariantListBase"}' docValue=""/>
+		</Parameter>
+		<Parameter name="AddToWhitelist" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" docType="List(string)" optional="no">
+			<DefaultValue value='{"array":[],"type":"::armarx::SingleTypeVariantListBase"}' docValue=""/>
+		</Parameter>
+		<Parameter name="ClearBlacklist" type="::armarx::BoolVariantData" docType="bool" optional="no">
+			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::BoolVariantData","value":false}}' docValue="False"/>
+		</Parameter>
+		<Parameter name="ClearWhitelist" type="::armarx::BoolVariantData" docType="bool" optional="no">
+			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::BoolVariantData","value":false}}' docValue="False"/>
+		</Parameter>
+		<Parameter name="SetBlacklist" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" docType="List(string)" optional="no">
+			<DefaultValue value='{"array":[],"type":"::armarx::SingleTypeVariantListBase"}' docValue=""/>
+		</Parameter>
+		<Parameter name="SetWhitelist" type="::armarx::SingleTypeVariantListBase(::armarx::StringVariantData)" docType="List(string)" optional="no">
+			<DefaultValue value='{"array":[],"type":"::armarx::SingleTypeVariantListBase"}' docValue=""/>
+		</Parameter>
+	</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>
+