From 65976bbcc36da02b36d468a462df95de7fd9fed6 Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Mon, 26 Apr 2021 14:41:28 +0200
Subject: [PATCH] added default armar6 robotstatememory config
---
data/RobotAPI/robotStateMemoryConfig.txt | 203 ++++++++++++++++++
.../RobotAPI/components/armem/CMakeLists.txt | 2 +-
.../CMakeLists.txt | 6 +-
.../RobotStateMemory.cpp} | 101 ++++++---
.../RobotStateMemory.h} | 16 +-
5 files changed, 291 insertions(+), 37 deletions(-)
create mode 100644 data/RobotAPI/robotStateMemoryConfig.txt
rename source/RobotAPI/components/armem/server/{RobotSensorMemory => RobotStateMemory}/CMakeLists.txt (80%)
rename source/RobotAPI/components/armem/server/{RobotSensorMemory/RobotSensorMemory.cpp => RobotStateMemory/RobotStateMemory.cpp} (83%)
rename source/RobotAPI/components/armem/server/{RobotSensorMemory/RobotSensorMemory.h => RobotStateMemory/RobotStateMemory.h} (90%)
diff --git a/data/RobotAPI/robotStateMemoryConfig.txt b/data/RobotAPI/robotStateMemoryConfig.txt
new file mode 100644
index 000000000..c764eae7e
--- /dev/null
+++ b/data/RobotAPI/robotStateMemoryConfig.txt
@@ -0,0 +1,203 @@
+sens.Index L 1 Joint.acceleration => HandL
+sens.Index L 1 Joint.gravityTorque => HandL
+sens.Index L 1 Joint.inertiaTorque => HandL
+sens.Index L 1 Joint.inverseDynamicsTorque => HandL
+sens.Index L 1 Joint.position => HandL
+sens.Index L 1 Joint.torque => HandL
+sens.Index L 1 Joint.velocity => HandL
+sens.Index L 2 Joint.acceleration => HandL
+sens.Index L 2 Joint.gravityTorque => HandL
+sens.Index L 2 Joint.inertiaTorque => HandL
+sens.Index L 2 Joint.inverseDynamicsTorque => HandL
+sens.Index L 2 Joint.position => HandL
+sens.Index L 2 Joint.torque => HandL
+sens.Index L 2 Joint.velocity => HandL
+sens.Index L 3 Joint.acceleration => HandL
+sens.Index L 3 Joint.gravityTorque => HandL
+sens.Index L 3 Joint.inertiaTorque => HandL
+sens.Index L 3 Joint.inverseDynamicsTorque => HandL
+sens.Index L 3 Joint.position => HandL
+sens.Index L 3 Joint.torque => HandL
+sens.Index L 3 Joint.velocity => HandL
+sens.Index R 1 Joint.acceleration => HandR
+sens.Index R 1 Joint.gravityTorque => HandR
+sens.Index R 1 Joint.inertiaTorque => HandR
+sens.Index R 1 Joint.inverseDynamicsTorque => HandR
+sens.Index R 1 Joint.position => HandR
+sens.Index R 1 Joint.torque => HandR
+sens.Index R 1 Joint.velocity => HandR
+sens.Index R 2 Joint.acceleration => HandR
+sens.Index R 2 Joint.gravityTorque => HandR
+sens.Index R 2 Joint.inertiaTorque => HandR
+sens.Index R 2 Joint.inverseDynamicsTorque => HandR
+sens.Index R 2 Joint.position => HandR
+sens.Index R 2 Joint.torque => HandR
+sens.Index R 2 Joint.velocity => HandR
+sens.Index R 3 Joint.acceleration => HandR
+sens.Index R 3 Joint.gravityTorque => HandR
+sens.Index R 3 Joint.inertiaTorque => HandR
+sens.Index R 3 Joint.inverseDynamicsTorque => HandR
+sens.Index R 3 Joint.position => HandR
+sens.Index R 3 Joint.torque => HandR
+sens.Index R 3 Joint.velocity => HandR
+sens.Middle L 1 Joint.acceleration => HandL
+sens.Middle L 1 Joint.gravityTorque => HandL
+sens.Middle L 1 Joint.inertiaTorque => HandL
+sens.Middle L 1 Joint.inverseDynamicsTorque => HandL
+sens.Middle L 1 Joint.position => HandL
+sens.Middle L 1 Joint.torque => HandL
+sens.Middle L 1 Joint.velocity => HandL
+sens.Middle L 2 Joint.acceleration => HandL
+sens.Middle L 2 Joint.gravityTorque => HandL
+sens.Middle L 2 Joint.inertiaTorque => HandL
+sens.Middle L 2 Joint.inverseDynamicsTorque => HandL
+sens.Middle L 2 Joint.position => HandL
+sens.Middle L 2 Joint.torque => HandL
+sens.Middle L 2 Joint.velocity => HandL
+sens.Middle L 3 Joint.acceleration => HandL
+sens.Middle L 3 Joint.gravityTorque => HandL
+sens.Middle L 3 Joint.inertiaTorque => HandL
+sens.Middle L 3 Joint.inverseDynamicsTorque => HandL
+sens.Middle L 3 Joint.position => HandL
+sens.Middle L 3 Joint.torque => HandL
+sens.Middle L 3 Joint.velocity => HandL
+sens.Middle R 1 Joint.acceleration => HandR
+sens.Middle R 1 Joint.gravityTorque => HandR
+sens.Middle R 1 Joint.inertiaTorque => HandR
+sens.Middle R 1 Joint.inverseDynamicsTorque => HandR
+sens.Middle R 1 Joint.position => HandR
+sens.Middle R 1 Joint.torque => HandR
+sens.Middle R 1 Joint.velocity => HandR
+sens.Middle R 2 Joint.acceleration => HandR
+sens.Middle R 2 Joint.gravityTorque => HandR
+sens.Middle R 2 Joint.inertiaTorque => HandR
+sens.Middle R 2 Joint.inverseDynamicsTorque => HandR
+sens.Middle R 2 Joint.position => HandR
+sens.Middle R 2 Joint.torque => HandR
+sens.Middle R 2 Joint.velocity => HandR
+sens.Middle R 3 Joint.acceleration => HandR
+sens.Middle R 3 Joint.gravityTorque => HandR
+sens.Middle R 3 Joint.inertiaTorque => HandR
+sens.Middle R 3 Joint.inverseDynamicsTorque => HandR
+sens.Middle R 3 Joint.position => HandR
+sens.Middle R 3 Joint.torque => HandR
+sens.Middle R 3 Joint.velocity => HandR
+sens.Pinky L 1 Joint.acceleration => HandL
+sens.Pinky L 1 Joint.gravityTorque => HandL
+sens.Pinky L 1 Joint.inertiaTorque => HandL
+sens.Pinky L 1 Joint.inverseDynamicsTorque => HandL
+sens.Pinky L 1 Joint.position => HandL
+sens.Pinky L 1 Joint.torque => HandL
+sens.Pinky L 1 Joint.velocity => HandL
+sens.Pinky L 2 Joint.acceleration => HandL
+sens.Pinky L 2 Joint.gravityTorque => HandL
+sens.Pinky L 2 Joint.inertiaTorque => HandL
+sens.Pinky L 2 Joint.inverseDynamicsTorque => HandL
+sens.Pinky L 2 Joint.position => HandL
+sens.Pinky L 2 Joint.torque => HandL
+sens.Pinky L 2 Joint.velocity => HandL
+sens.Pinky L 3 Joint.acceleration => HandL
+sens.Pinky L 3 Joint.gravityTorque => HandL
+sens.Pinky L 3 Joint.inertiaTorque => HandL
+sens.Pinky L 3 Joint.inverseDynamicsTorque => HandL
+sens.Pinky L 3 Joint.position => HandL
+sens.Pinky L 3 Joint.torque => HandL
+sens.Pinky L 3 Joint.velocity => HandL
+sens.Pinky R 1 Joint.acceleration => HandR
+sens.Pinky R 1 Joint.gravityTorque => HandR
+sens.Pinky R 1 Joint.inertiaTorque => HandR
+sens.Pinky R 1 Joint.inverseDynamicsTorque => HandR
+sens.Pinky R 1 Joint.position => HandR
+sens.Pinky R 1 Joint.torque => HandR
+sens.Pinky R 1 Joint.velocity => HandR
+sens.Pinky R 2 Joint.acceleration => HandR
+sens.Pinky R 2 Joint.gravityTorque => HandR
+sens.Pinky R 2 Joint.inertiaTorque => HandR
+sens.Pinky R 2 Joint.inverseDynamicsTorque
+sens.Pinky R 2 Joint.position => HandR
+sens.Pinky R 2 Joint.torque => HandR
+sens.Pinky R 2 Joint.velocity => HandR
+sens.Pinky R 3 Joint.acceleration => HandR
+sens.Pinky R 3 Joint.gravityTorque => HandR
+sens.Pinky R 3 Joint.inertiaTorque => HandR
+sens.Pinky R 3 Joint.inverseDynamicsTorque => HandR
+sens.Pinky R 3 Joint.position => HandR
+sens.Pinky R 3 Joint.torque => HandR
+sens.Pinky R 3 Joint.velocity => HandR
+sens.Ring L 1 Joint.acceleration
+sens.Ring L 1 Joint.gravityTorque
+sens.Ring L 1 Joint.inertiaTorque
+sens.Ring L 1 Joint.inverseDynamicsTorque
+sens.Ring L 1 Joint.position
+sens.Ring L 1 Joint.torque
+sens.Ring L 1 Joint.velocity
+sens.Ring L 2 Joint.acceleration
+sens.Ring L 2 Joint.gravityTorque
+sens.Ring L 2 Joint.inertiaTorque
+sens.Ring L 2 Joint.inverseDynamicsTorque
+sens.Ring L 2 Joint.position
+sens.Ring L 2 Joint.torque
+sens.Ring L 2 Joint.velocity
+sens.Ring L 3 Joint.acceleration
+sens.Ring L 3 Joint.gravityTorque
+sens.Ring L 3 Joint.inertiaTorque
+sens.Ring L 3 Joint.inverseDynamicsTorque
+sens.Ring L 3 Joint.position
+sens.Ring L 3 Joint.torque
+sens.Ring L 3 Joint.velocity
+sens.Ring R 1 Joint.acceleration
+sens.Ring R 1 Joint.gravityTorque
+sens.Ring R 1 Joint.inertiaTorque
+sens.Ring R 1 Joint.inverseDynamicsTorque
+sens.Ring R 1 Joint.position
+sens.Ring R 1 Joint.torque
+sens.Ring R 1 Joint.velocity
+sens.Ring R 2 Joint.acceleration
+sens.Ring R 2 Joint.gravityTorque
+sens.Ring R 2 Joint.inertiaTorque
+sens.Ring R 2 Joint.inverseDynamicsTorque
+sens.Ring R 2 Joint.position
+sens.Ring R 2 Joint.torque
+sens.Ring R 2 Joint.velocity
+sens.Ring R 3 Joint.acceleration
+sens.Ring R 3 Joint.gravityTorque
+sens.Ring R 3 Joint.inertiaTorque
+sens.Ring R 3 Joint.inverseDynamicsTorque
+sens.Ring R 3 Joint.position
+sens.Ring R 3 Joint.torque
+sens.Ring R 3 Joint.velocity
+sens.Thumb L 1 Joint.acceleration
+sens.Thumb L 1 Joint.gravityTorque
+sens.Thumb L 1 Joint.inertiaTorque
+sens.Thumb L 1 Joint.inverseDynamicsTorque
+sens.Thumb L 1 Joint.position
+sens.Thumb L 1 Joint.torque
+sens.Thumb L 1 Joint.velocity
+sens.Thumb L 2 Joint.acceleration
+sens.Thumb L 2 Joint.gravityTorque
+sens.Thumb L 2 Joint.inertiaTorque
+sens.Thumb L 2 Joint.inverseDynamicsTorque
+sens.Thumb L 2 Joint.position
+sens.Thumb L 2 Joint.torque
+sens.Thumb L 2 Joint.velocity
+sens.Thumb R 1 Joint.acceleration
+sens.Thumb R 1 Joint.gravityTorque
+sens.Thumb R 1 Joint.inertiaTorque
+sens.Thumb R 1 Joint.inverseDynamicsTorque
+sens.Thumb R 1 Joint.position
+sens.Thumb R 1 Joint.torque
+sens.Thumb R 1 Joint.velocity
+sens.Thumb R 2 Joint.acceleration
+sens.Thumb R 2 Joint.gravityTorque
+sens.Thumb R 2 Joint.inertiaTorque
+sens.Thumb R 2 Joint.inverseDynamicsTorque
+sens.Thumb R 2 Joint.position
+sens.Thumb R 2 Joint.torque
+sens.Thumb R 2 Joint.velocity
+sens.TorsoJoint.acceleration
+sens.TorsoJoint.gravityTorque
+sens.TorsoJoint.inertiaTorque
+sens.TorsoJoint.inverseDynamicsTorque
+sens.TorsoJoint.position
+sens.TorsoJoint.torque
+sens.TorsoJoint.velocity
diff --git a/source/RobotAPI/components/armem/CMakeLists.txt b/source/RobotAPI/components/armem/CMakeLists.txt
index b80992aea..148c9c6bd 100644
--- a/source/RobotAPI/components/armem/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/CMakeLists.txt
@@ -1,7 +1,7 @@
# memory servers
add_subdirectory(server/ExampleMemory)
add_subdirectory(server/GeneralPurposeMemory)
-add_subdirectory(server/RobotSensorMemory)
+add_subdirectory(server/RobotStateMemory)
add_subdirectory(server/SkillsMemory)
# memory server addons
diff --git a/source/RobotAPI/components/armem/server/RobotSensorMemory/CMakeLists.txt b/source/RobotAPI/components/armem/server/RobotStateMemory/CMakeLists.txt
similarity index 80%
rename from source/RobotAPI/components/armem/server/RobotSensorMemory/CMakeLists.txt
rename to source/RobotAPI/components/armem/server/RobotStateMemory/CMakeLists.txt
index 14939bd03..4667365b1 100644
--- a/source/RobotAPI/components/armem/server/RobotSensorMemory/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/CMakeLists.txt
@@ -1,4 +1,4 @@
-armarx_component_set_name("RobotSensorMemory")
+armarx_component_set_name("RobotStateMemory")
set(COMPONENT_LIBS
@@ -9,10 +9,10 @@ set(COMPONENT_LIBS
)
set(SOURCES
- RobotSensorMemory.cpp
+ RobotStateMemory.cpp
)
set(HEADERS
- RobotSensorMemory.h
+ RobotStateMemory.h
)
armarx_add_component("${SOURCES}" "${HEADERS}")
diff --git a/source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
similarity index 83%
rename from source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.cpp
rename to source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index fd1987ee7..0bb8aaec8 100644
--- a/source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -22,9 +22,11 @@
// STD
#include <algorithm>
+#include <iostream>
+#include <fstream>
// Header
-#include "RobotSensorMemory.h"
+#include "RobotStateMemory.h"
// Simox
#include <SimoxUtility/algorithm/string.h>
@@ -39,31 +41,33 @@
namespace armarx
{
- RobotSensorMemory::RobotSensorMemory()
+ RobotStateMemory::RobotStateMemory()
{
}
- armarx::PropertyDefinitionsPtr RobotSensorMemory::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr RobotStateMemory::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
defs->optional(robotUnitSensorPrefix, "SensorValuePrefix", "Prefix of all sensor values");
defs->optional(robotUnitMemoryBatchSize, "RobotUnitMemoryBatchSize", "The size of the entity snapshot to send to the memory. Min is 1");
defs->optional(robotUnitPollFrequency, "RobotUnitUpdateFrequency", "The frequency in Hz to store values. All other values get discarded. Min is 1, max is " + std::to_string(ROBOT_UNIT_MAXIMUM_FREQUENCY));
+ defs->optional(robotUnitConfigPath, "robotUnitConfigPath", "Specify a configuration file to group the sensor values specifically.");
defs->optional(robotStateComponentMemoryBatchSize, "RobotStateComponentMemoryBatchSize", "The size of the entity snapshot to send to the memory. Min is 1");
defs->optional(robotStateComponentPollFrequency, "RobotStateComponentUpdateFrequency", "The frequency in Hz to store values. All other values get discarded. Min is 1, max is " + std::to_string(ROBOT_STATE_COMPONENT_MAXIMUM_FREQUENCY));
+
return defs;
}
- std::string RobotSensorMemory::getDefaultName() const
+ std::string RobotStateMemory::getDefaultName() const
{
return "RobotSensorMemory";
}
- void RobotSensorMemory::onInitComponent()
+ void RobotStateMemory::onInitComponent()
{
robotUnitMemoryBatchSize = std::max((unsigned int) 1, robotUnitMemoryBatchSize);
robotUnitPollFrequency = std::clamp(robotUnitPollFrequency, 1, ROBOT_UNIT_MAXIMUM_FREQUENCY);
@@ -75,7 +79,7 @@ namespace armarx
}
- void RobotSensorMemory::onConnectComponent()
+ void RobotStateMemory::onConnectComponent()
{
setupRobotUnitSegment();
setupRobotStateComponentSegment();
@@ -84,25 +88,25 @@ namespace armarx
handler = make_shared<RobotUnitDataStreamingReceiver>(this, getRobotUnit(), cfg);
keys = handler->getDataDescription();
- robotUnitConversionTask = new PeriodicTask<RobotSensorMemory>(this, &RobotSensorMemory::convertRobotUnitStreamingDataToAron, (1000 / robotUnitPollFrequency));
- robotUnitStoringTask = new PeriodicTask<RobotSensorMemory>(this, &RobotSensorMemory::storeConvertedRobotUnitDataInMemory, (1000 / robotUnitPollFrequency));
+ robotUnitConversionTask = new PeriodicTask<RobotStateMemory>(this, &RobotStateMemory::convertRobotUnitStreamingDataToAron, (1000 / robotUnitPollFrequency));
+ robotUnitStoringTask = new PeriodicTask<RobotStateMemory>(this, &RobotStateMemory::storeConvertedRobotUnitDataInMemory, (1000 / robotUnitPollFrequency));
- robotStateComponentConversionTask = new PeriodicTask<RobotSensorMemory>(this, &RobotSensorMemory::convertRobotStateComponentDataToAron, (1000 / robotStateComponentPollFrequency));
- robotStateComponentStoringTask = new PeriodicTask<RobotSensorMemory>(this, &RobotSensorMemory::storeConvertedRobotStateComponentDataInMemory, (1000 / robotStateComponentPollFrequency));
+ robotStateComponentConversionTask = new PeriodicTask<RobotStateMemory>(this, &RobotStateMemory::convertRobotStateComponentDataToAron, (1000 / robotStateComponentPollFrequency));
+ robotStateComponentStoringTask = new PeriodicTask<RobotStateMemory>(this, &RobotStateMemory::storeConvertedRobotStateComponentDataInMemory, (1000 / robotStateComponentPollFrequency));
startRobotUnitStream();
startRobotStateComponentPoll();
}
- void RobotSensorMemory::onDisconnectComponent()
+ void RobotStateMemory::onDisconnectComponent()
{
stopRobotUnitStream();
startRobotStateComponentPoll();
}
- void RobotSensorMemory::onExitComponent()
+ void RobotStateMemory::onExitComponent()
{
stopRobotUnitStream();
stopRobotStateComponentPoll();
@@ -111,7 +115,7 @@ namespace armarx
/*************************************************************/
// RobotUnit Streaming functions
/*************************************************************/
- void RobotSensorMemory::setupRobotUnitSegment()
+ void RobotStateMemory::setupRobotUnitSegment()
{
ARMARX_INFO << "Adding core segment " << robotUnitCoreSegmentName;
memory.addCoreSegments({robotUnitCoreSegmentName});
@@ -141,7 +145,7 @@ namespace armarx
robotUnitProviderID.providerSegmentName = robotUnitProviderSegmentName;
}
- void RobotSensorMemory::convertRobotUnitStreamingDataToAron()
+ void RobotStateMemory::convertRobotUnitStreamingDataToAron()
{
auto& data = handler->getDataBuffer();
if (data.size() == 0)
@@ -156,14 +160,22 @@ namespace armarx
RobotUnitData convertedAndGroupedData;
for (const auto& [name, dataEntry] : keys.entries)
{
- size_t dot_pos = name.find(".", name.find(".") + 1); // find second occurence of "."
- if (dot_pos == std::string::npos)
+ std::string groupName = "";
+ if (configSensorMapping.find(name) != configSensorMapping.end())
{
- ARMARX_WARNING << "Could not find a groupname for the sensor with name " << name << ". All sensors must be called sens.X.Y where X is the name of the group and Y is the actual sensor. Ignoring this sensor.";
- continue;
+ groupName = configSensorMapping.at(name);
+ }
+ else
+ {
+ size_t dot_pos = name.find(".", name.find(".") + 1); // find second occurence of "."
+ if (dot_pos == std::string::npos)
+ {
+ ARMARX_WARNING << "Could not find a groupname for the sensor with name " << name << ". All sensors must be called sens.X.Y where X is the name of the group and Y is the actual sensor. Ignoring this sensor.";
+ continue;
+ }
+ groupName = name.substr(0, dot_pos);
}
- std::string groupName = name.substr(0, dot_pos);
RobotUnitData::RobotUnitDataGroup e;
if (auto it = convertedAndGroupedData.groups.find(groupName); it == convertedAndGroupedData.groups.end())
{
@@ -251,7 +263,7 @@ namespace armarx
ARMARX_DEBUG << "RobotUnitData: The total time needed to convert the data to aron is: " << std::chrono::duration_cast<std::chrono::microseconds>(stop - start);
}
- void RobotSensorMemory::storeConvertedRobotUnitDataInMemory()
+ void RobotStateMemory::storeConvertedRobotUnitDataInMemory()
{
unsigned int size = 0;
{
@@ -301,14 +313,14 @@ namespace armarx
}
}
- void RobotSensorMemory::stopRobotUnitStream()
+ void RobotStateMemory::stopRobotUnitStream()
{
std::lock_guard g{startStopMutex};
robotUnitConversionTask->stop();
robotUnitStoringTask->stop();
}
- void RobotSensorMemory::startRobotUnitStream()
+ void RobotStateMemory::startRobotUnitStream()
{
std::lock_guard g{startStopMutex};
if (robotUnitConversionTask->isRunning() || robotUnitStoringTask->isRunning())
@@ -368,6 +380,41 @@ namespace armarx
}
ARMARX_INFO << ss.str();
+ // parse config
+ std::filesystem::path configPath(robotUnitConfigPath);
+ configSensorMapping.clear();
+ if(std::filesystem::is_regular_file(configPath))
+ {
+ // a simple self-made parser for the config file. Extend it if you need to
+ std::ifstream in(configPath);
+ std::string line;
+ while (std::getline(in, line))
+ {
+ if(line.size() > 0)
+ {
+ if(simox::alg::starts_with(line, "//"))
+ {
+ continue;
+ }
+
+ std::vector<std::string> mappings = simox::alg::split(line, ",");
+ for(const auto& mapping : mappings)
+ {
+ std::vector<std::string> split = simox::alg::split(mapping, "=>");
+ if(split.size() < 2)
+ {
+ ARMARX_WARNING << "A mapping in the RobotUnitConfig file is not valid. Ignoring it.";
+ continue;
+ }
+ for (unsigned int i = 0; i < split.size() - 1; ++i)
+ {
+ configSensorMapping.insert({split[i], split[split.size()-1]});
+ }
+ }
+ }
+ }
+ }
+
robotUnitConversionTask->start();
robotUnitStoringTask->start();
}
@@ -376,7 +423,7 @@ namespace armarx
/*************************************************************/
// RobotStateComponent Polling functions
/*************************************************************/
- void RobotSensorMemory::setupRobotStateComponentSegment()
+ void RobotStateMemory::setupRobotStateComponentSegment()
{
ARMARX_INFO << "Adding core segment " << robotStateComponentCoreSegmentName;
memory.addCoreSegments({robotStateComponentCoreSegmentName});
@@ -400,7 +447,7 @@ namespace armarx
robotStateComponentProviderID.providerSegmentName = robotStateComponentProviderSegmentName;
}
- void RobotSensorMemory::convertRobotStateComponentDataToAron()
+ void RobotStateMemory::convertRobotStateComponentDataToAron()
{
ARMARX_DEBUG << "RobotStateComponentData: Generating new aron map for current timestep";
auto start = std::chrono::high_resolution_clock::now();
@@ -445,7 +492,7 @@ namespace armarx
ARMARX_DEBUG << "RobotStateComponentData: The total time needed to convert the data to aron is: " << std::chrono::duration_cast<std::chrono::microseconds>(stop - start);
}
- void RobotSensorMemory::storeConvertedRobotStateComponentDataInMemory()
+ void RobotStateMemory::storeConvertedRobotStateComponentDataInMemory()
{
unsigned int size = 0;
{
@@ -491,14 +538,14 @@ namespace armarx
}
}
- void RobotSensorMemory::stopRobotStateComponentPoll()
+ void RobotStateMemory::stopRobotStateComponentPoll()
{
std::lock_guard g{startStopMutex};
robotStateComponentConversionTask->stop();
robotStateComponentStoringTask->stop();
}
- void RobotSensorMemory::startRobotStateComponentPoll()
+ void RobotStateMemory::startRobotStateComponentPoll()
{
std::lock_guard g{startStopMutex};
if (robotStateComponentConversionTask->isRunning() || robotStateComponentStoringTask->isRunning())
diff --git a/source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.h b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
similarity index 90%
rename from source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.h
rename to source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
index 6b6ea32c9..7bea72519 100644
--- a/source/RobotAPI/components/armem/server/RobotSensorMemory/RobotSensorMemory.h
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
@@ -55,7 +55,7 @@ namespace armarx
*
* Detailed description of class RobotSensorMemory.
*/
- class RobotSensorMemory :
+ class RobotStateMemory :
virtual public armarx::Component,
virtual public armem::server::ComponentPluginUser,
virtual public RobotUnitComponentPluginUser,
@@ -63,7 +63,7 @@ namespace armarx
{
public:
- RobotSensorMemory();
+ RobotStateMemory();
/// @see armarx::ManagedIceObject::getDefaultName()
std::string getDefaultName() const override;
@@ -141,14 +141,18 @@ namespace armarx
int robotUnitPollFrequency = 50;
std::string robotUnitSensorPrefix = "sens.*";
unsigned int robotUnitMemoryBatchSize = 50;
+ std::string robotUnitConfigPath = "NO CONFIG SET";
+
+ // RobotUnit stuff
+ std::map<std::string, std::string> configSensorMapping;
// queue
std::queue<RobotUnitData> robotUnitDataQueue;
mutable std::mutex robotUnitDataMutex;
// running tasks
- armarx::PeriodicTask<RobotSensorMemory>::pointer_type robotUnitConversionTask;
- armarx::PeriodicTask<RobotSensorMemory>::pointer_type robotUnitStoringTask;
+ armarx::PeriodicTask<RobotStateMemory>::pointer_type robotUnitConversionTask;
+ armarx::PeriodicTask<RobotStateMemory>::pointer_type robotUnitStoringTask;
// RobotStateComponent stuff
struct RobotStateComponentData
@@ -167,7 +171,7 @@ namespace armarx
mutable std::mutex robotStateComponentDataMutex;
// running tasks
- armarx::PeriodicTask<RobotSensorMemory>::pointer_type robotStateComponentConversionTask;
- armarx::PeriodicTask<RobotSensorMemory>::pointer_type robotStateComponentStoringTask;
+ armarx::PeriodicTask<RobotStateMemory>::pointer_type robotStateComponentConversionTask;
+ armarx::PeriodicTask<RobotStateMemory>::pointer_type robotStateComponentStoringTask;
};
}
--
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