From 604085fab08abd4a90b1ee95651f5c53246489fc Mon Sep 17 00:00:00 2001
From: Patrick Hegemann <patrick.hegemann@kit.edu>
Date: Tue, 18 May 2021 11:24:56 +0200
Subject: [PATCH] Create SkillsMemory Library and aron conversions
---
.../armem/server/SkillsMemory/CMakeLists.txt | 18 +++---
.../server/SkillsMemory/SkillsMemory.cpp | 36 ++++--------
.../armem/server/SkillsMemory/SkillsMemory.h | 20 ++-----
source/RobotAPI/libraries/CMakeLists.txt | 2 +
.../libraries/armem_skills/CMakeLists.txt | 31 ++++++++++
.../armem_skills}/StatechartListener.cpp | 0
.../armem_skills}/StatechartListener.h | 0
.../armem_skills/aron/Statechart.xml | 57 ++++++++++++++++++
.../armem_skills/aron_conversions.cpp | 58 +++++++++++++++++++
.../libraries/armem_skills/aron_conversions.h | 36 ++++++++++++
10 files changed, 207 insertions(+), 51 deletions(-)
create mode 100644 source/RobotAPI/libraries/armem_skills/CMakeLists.txt
rename source/RobotAPI/{components/armem/server/SkillsMemory => libraries/armem_skills}/StatechartListener.cpp (100%)
rename source/RobotAPI/{components/armem/server/SkillsMemory => libraries/armem_skills}/StatechartListener.h (100%)
create mode 100644 source/RobotAPI/libraries/armem_skills/aron/Statechart.xml
create mode 100644 source/RobotAPI/libraries/armem_skills/aron_conversions.cpp
create mode 100644 source/RobotAPI/libraries/armem_skills/aron_conversions.h
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/CMakeLists.txt b/source/RobotAPI/components/armem/server/SkillsMemory/CMakeLists.txt
index a0f46e62c..be666686a 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/CMakeLists.txt
@@ -4,7 +4,7 @@ armarx_component_set_name("SkillsMemory")
set(COMPONENT_LIBS
ArmarXCore ArmarXCoreInterfaces ArmarXCoreObservers # for DebugObserverInterface
ArmarXGuiComponentPlugins
- RobotAPICore RobotAPIInterfaces armem
+ RobotAPICore RobotAPIInterfaces armem armem_skills
# RobotAPIComponentPlugins # for ArViz and other plugins
${IVT_LIBRARIES}
@@ -12,21 +12,21 @@ set(COMPONENT_LIBS
set(SOURCES
SkillsMemory.cpp
- StatechartListener.cpp
+ ../../../../libraries/armem_skills/StatechartListener.cpp
)
set(HEADERS
SkillsMemory.h
- StatechartListener.h
+ ../../../../libraries/armem_skills/StatechartListener.h
)
armarx_add_component("${SOURCES}" "${HEADERS}")
-armarx_enable_aron_file_generation_for_target(
- TARGET_NAME
- ${ARMARX_COMPONENT_NAME}
- ARON_FILES
- aron/StatechartData.xml
-)
+#armarx_enable_aron_file_generation_for_target(
+# TARGET_NAME
+# ${ARMARX_COMPONENT_NAME}
+# ARON_FILES
+# aron/StatechartData.xml
+#)
#generate the application
armarx_generate_and_add_component_executable()
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index 15f2a5e83..c912f55a1 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -26,15 +26,19 @@
#include <ArmarXCore/core/ArmarXObjectScheduler.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/time/TimeUtil.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/CoreSegment.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
+#include <RobotAPI/libraries/armem_skills/aron_conversions.h>
+
+
namespace armarx
{
SkillsMemory::SkillsMemory()
- {
- }
+ = default;
armarx::PropertyDefinitionsPtr SkillsMemory::createPropertyDefinitions()
{
@@ -64,8 +68,8 @@ namespace armarx
workingMemory.name() = p.memoryName;
{
- armarx::armem::wm::CoreSegment& c = workingMemory.addCoreSegment(statechartCoreSegmentName, armarx::statechart::aron::Transition::toInitialAronType());
- c.addProviderSegment("Transitions", armarx::statechart::aron::Transition::toInitialAronType());
+ armarx::armem::wm::CoreSegment& c = workingMemory.addCoreSegment(statechartCoreSegmentName, armarx::armem::arondto::Statechart::Transition::toInitialAronType());
+ c.addProviderSegment("Transitions", armarx::armem::arondto::Statechart::Transition::toInitialAronType());
}
}
@@ -158,19 +162,9 @@ namespace armarx
.withProviderSegmentName(statechartTransitionsProviderSegmentName)
.withEntityName(entityName);
- ARMARX_INFO << "update.entityId = " << update.entityID;
update.timeCreated = transitionTime;
-
- armarx::statechart::aron::Transition data;
- data.processId = t.processId;
- data.sourceStateIdentifier = t.sourceStateIdentifier;
- data.targetStateIdentifier = t.targetStateIdentifier;
- data.eventName = t.eventName;
- data.targetStateType = toAronStateEnum[t.targetStateType];
- data.inputParameters = *toAronParameterMap(t.inputParameters);
- data.localParameters = *toAronParameterMap(t.localParameters);
- data.outputParameters = *toAronParameterMap(t.outputParameters);
-
+ armem::arondto::Statechart::Transition data;
+ armem::toAron(data, t);
update.instancesData.push_back(data.toAron());
try
@@ -184,16 +178,6 @@ namespace armarx
}
}
- std::shared_ptr<armarx::statechart::aron::ParameterMap> SkillsMemory::toAronParameterMap(const armarx::StateParameterMap& map)
- {
- std::shared_ptr<armarx::statechart::aron::ParameterMap> aronMap(new armarx::statechart::aron::ParameterMap);
- for (auto const& [key, val] : map)
- {
- aronMap->parameters[key] = val->value->toString();
- }
- return aronMap;
- }
-
std::string SkillsMemory::getStatechartName(std::string stateName)
{
const std::string delimiter = "->";
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index 218402973..266806187 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -24,15 +24,14 @@
#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/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
-
-#include <RobotAPI/components/armem/server/SkillsMemory/StatechartListener.h>
-#include <RobotAPI/components/armem/server/SkillsMemory/aron/StatechartData.aron.generated.h>
+#include <RobotAPI/libraries/armem_skills/aron/Statechart.aron.generated.h>
+#include <RobotAPI/libraries/armem_skills/StatechartListener.h>
namespace armarx
@@ -108,17 +107,6 @@ namespace armarx
IceInternal::Handle<armarx::StatechartListener> statechartListener;
void reportTransitions(const std::vector<StatechartListener::Transition>& transitions);
- // Converts an armarx::eStateType to the corresponding aron enum value
- std::map<armarx::eStateType, armarx::statechart::aron::StateType> toAronStateEnum =
- {
- {eNormalState, armarx::statechart::aron::StateType::NORMAL},
- {eFinalState, armarx::statechart::aron::StateType::FINAL},
- {eRemoteState, armarx::statechart::aron::StateType::REMOTE},
- {eDynamicRemoteState, armarx::statechart::aron::StateType::DYNAMIC_REMOTE},
- {eUndefined, armarx::statechart::aron::StateType::UNDEFINED},
- };
- // Converts an armarx::StateParameterMap to aron
- static std::shared_ptr<armarx::statechart::aron::ParameterMap> toAronParameterMap(const armarx::StateParameterMap&);
// Gets the statechart name from a state name (takes first two levels of the hierarchy)
static std::string getStatechartName(std::string stateName);
};
diff --git a/source/RobotAPI/libraries/CMakeLists.txt b/source/RobotAPI/libraries/CMakeLists.txt
index 1778ba42d..46c83e410 100644
--- a/source/RobotAPI/libraries/CMakeLists.txt
+++ b/source/RobotAPI/libraries/CMakeLists.txt
@@ -28,3 +28,5 @@ add_subdirectory(NJointControllerGuiPluginUtility)
add_subdirectory(RobotAPINJointControllerWidgets)
add_subdirectory(RobotUnitDataStreamingReceiver)
add_subdirectory(GraspingUtility)
+
+add_subdirectory(armem_skills)
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem_skills/CMakeLists.txt b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
new file mode 100644
index 000000000..0e18610cd
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_skills/CMakeLists.txt
@@ -0,0 +1,31 @@
+set(LIB_NAME armem_skills)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+ LIBS
+ ArmarXCoreInterfaces
+ ArmarXCore
+ ArmarXCoreObservers
+
+ RobotAPI::Core
+ RobotAPI::libraries::armem
+ SOURCES
+ ./aron_conversions.cpp
+ ./StatechartListener.cpp
+ HEADERS
+ ./aron_conversions.h
+ ./StatechartListener.h
+)
+
+
+armarx_enable_aron_file_generation_for_target(
+ TARGET_NAME
+ "${LIB_NAME}"
+ ARON_FILES
+ aron/Statechart.xml
+)
+
+
+add_library(RobotAPI::armem_skills ALIAS armem_skills)
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/StatechartListener.cpp b/source/RobotAPI/libraries/armem_skills/StatechartListener.cpp
similarity index 100%
rename from source/RobotAPI/components/armem/server/SkillsMemory/StatechartListener.cpp
rename to source/RobotAPI/libraries/armem_skills/StatechartListener.cpp
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/StatechartListener.h b/source/RobotAPI/libraries/armem_skills/StatechartListener.h
similarity index 100%
rename from source/RobotAPI/components/armem/server/SkillsMemory/StatechartListener.h
rename to source/RobotAPI/libraries/armem_skills/StatechartListener.h
diff --git a/source/RobotAPI/libraries/armem_skills/aron/Statechart.xml b/source/RobotAPI/libraries/armem_skills/aron/Statechart.xml
new file mode 100644
index 000000000..c4b132e1a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_skills/aron/Statechart.xml
@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ </CodeIncludes>
+
+ <GenerateTypes>
+ <IntEnum name="armarx::armem::arondto::Statechart::StateType">
+ <EnumValue key="NORMAL" value="0" />
+ <EnumValue key="FINAL" value="1" />
+ <EnumValue key="REMOTE" value="2" />
+ <EnumValue key="DYNAMIC_REMOTE" value="3" />
+ <EnumValue key="UNDEFINED" value="4" />
+ </IntEnum>
+
+ <Object name='armarx::armem::arondto::Statechart::ParameterMap'>
+ <ObjectChild key='parameters'>
+ <dict>
+ <String />
+ </dict>
+ </ObjectChild>
+ </Object>
+
+ <Object name='armarx::armem::arondto::Statechart::Transition'>
+ <ObjectChild key='processId'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key="sourceStateIdentifier">
+ <String />
+ </ObjectChild>
+
+ <ObjectChild key="targetStateIdentifier">
+ <String />
+ </ObjectChild>
+
+ <ObjectChild key="eventName">
+ <String />
+ </ObjectChild>
+
+ <ObjectChild key="targetStateType">
+ <armarx::armem::arondto::Statechart::StateType />
+ </ObjectChild>
+
+ <ObjectChild key="inputParameters">
+ <armarx::armem::arondto::Statechart::ParameterMap />
+ </ObjectChild>
+
+ <ObjectChild key="localParameters">
+ <armarx::armem::arondto::Statechart::ParameterMap />
+ </ObjectChild>
+
+ <ObjectChild key="outputParameters">
+ <armarx::armem::arondto::Statechart::ParameterMap />
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp b/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp
new file mode 100644
index 000000000..ca1292031
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_skills/aron_conversions.cpp
@@ -0,0 +1,58 @@
+#include "aron_conversions.h"
+
+namespace armarx::armem
+{
+
+ void fromAron(const arondto::Statechart::StateType& dto, eStateType& bo)
+ {
+ bo = fromAronStateTypeMap[dto];
+ }
+
+ void toAron(arondto::Statechart::StateType& dto, const eStateType& bo)
+ {
+ dto.value = toAronStateTypeMap[bo].value;
+ }
+
+ void fromAron(const arondto::Statechart::ParameterMap& dto, StateParameterMap& bo)
+ {
+ // todo: implement
+ // for (auto const& [key, val] : dto.parameters)
+ // {
+ // fromAron(val, ...)
+ // bo.insert(key, val);
+ // }
+ }
+
+ void toAron(arondto::Statechart::ParameterMap& dto, const StateParameterMap& bo)
+ {
+ for (auto const& [key, val] : bo)
+ {
+ dto.parameters[key] = val->value->toString();
+ }
+ }
+
+ void fromAron(const arondto::Statechart::Transition& dto, ProfilerStatechartTransitionWithParameters& bo)
+ {
+ bo.processId = dto.processId;
+ bo.sourceStateIdentifier = dto.sourceStateIdentifier;
+ bo.targetStateIdentifier = dto.targetStateIdentifier;
+ bo.eventName = dto.eventName;
+ fromAron(dto.targetStateType, bo.targetStateType);
+ fromAron(dto.inputParameters, bo.inputParameters);
+ fromAron(dto.localParameters, bo.localParameters);
+ fromAron(dto.outputParameters, bo.outputParameters);
+ }
+
+ void toAron(arondto::Statechart::Transition& dto, const ProfilerStatechartTransitionWithParameters& bo)
+ {
+ dto.processId = bo.processId;
+ dto.sourceStateIdentifier = bo.sourceStateIdentifier;
+ dto.targetStateIdentifier = bo.targetStateIdentifier;
+ dto.eventName = bo.eventName;
+ dto.targetStateType.initialize();
+ toAron(dto.targetStateType, bo.targetStateType);
+ toAron(dto.inputParameters, bo.inputParameters);
+ toAron(dto.localParameters, bo.localParameters);
+ toAron(dto.outputParameters, bo.outputParameters);
+ }
+}
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/armem_skills/aron_conversions.h b/source/RobotAPI/libraries/armem_skills/aron_conversions.h
new file mode 100644
index 000000000..4315d9745
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_skills/aron_conversions.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include <ArmarXCore/interface/core/Profiler.h>
+#include <ArmarXCore/observers/ObserverObjectFactories.h>
+
+#include <RobotAPI/libraries/armem_skills/aron/Statechart.aron.generated.h>
+
+namespace armarx::armem
+{
+ std::map<armarx::eStateType, armarx::armem::arondto::Statechart::StateType> toAronStateTypeMap =
+ {
+ {eNormalState, armarx::armem::arondto::Statechart::StateType::NORMAL},
+ {eFinalState, armarx::armem::arondto::Statechart::StateType::FINAL},
+ {eRemoteState, armarx::armem::arondto::Statechart::StateType::REMOTE},
+ {eDynamicRemoteState, armarx::armem::arondto::Statechart::StateType::DYNAMIC_REMOTE},
+ {eUndefined, armarx::armem::arondto::Statechart::StateType::UNDEFINED},
+ };
+
+ std::map<armarx::armem::arondto::Statechart::StateType, armarx::eStateType> fromAronStateTypeMap =
+ {
+ {armarx::armem::arondto::Statechart::StateType::NORMAL, eNormalState},
+ {armarx::armem::arondto::Statechart::StateType::FINAL, eFinalState},
+ {armarx::armem::arondto::Statechart::StateType::REMOTE, eRemoteState},
+ {armarx::armem::arondto::Statechart::StateType::DYNAMIC_REMOTE, eDynamicRemoteState},
+ {armarx::armem::arondto::Statechart::StateType::UNDEFINED, eUndefined},
+ };
+
+ void fromAron(const armarx::armem::arondto::Statechart::StateType& dto, armarx::eStateType& bo);
+ void toAron(armarx::armem::arondto::Statechart::StateType& dto, const armarx::eStateType& bo);
+
+ void fromAron(const armarx::armem::arondto::Statechart::ParameterMap& dto, armarx::StateParameterMap& bo);
+ void toAron(armarx::armem::arondto::Statechart::ParameterMap& dto, const armarx::StateParameterMap& bo);
+
+ void fromAron(const armarx::armem::arondto::Statechart::Transition& dto, armarx::ProfilerStatechartTransitionWithParameters& bo);
+ void toAron(armarx::armem::arondto::Statechart::Transition& dto, const armarx::ProfilerStatechartTransitionWithParameters& bo);
+}
--
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