Add ArMemExampleClient

source/RobotAPI/components/ArMemExampleClient/ArMemExampleClient.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::ArmarXObjects::ArMemExampleClient
+ * @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 "ArMemExampleClient.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <RobotAPI/interface/aron.h>
+
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+
+
+namespace armarx
+{
+    ArMemExampleClientPropertyDefinitions::ArMemExampleClientPropertyDefinitions(std::string prefix) :
+        armarx::ComponentPropertyDefinitions(prefix)
+    {
+    }
+
+    armarx::PropertyDefinitionsPtr ArMemExampleClient::createPropertyDefinitions()
+    {
+        armarx::PropertyDefinitionsPtr defs = new ArMemExampleClientPropertyDefinitions(getConfigIdentifier());
+
+        defs->topic(debugObserver);
+
+        defs->component(memory, "ArMemExampleMemory");
+
+        return defs;
+    }
+
+
+    std::string ArMemExampleClient::getDefaultName() const
+    {
+        return "ArMemExampleClient";
+    }
+
+
+    void ArMemExampleClient::onInitComponent()
+    {
+    }
+
+
+    void ArMemExampleClient::onConnectComponent()
+    {
+        ARMARX_CHECK_NOT_NULL(memory);
+
+        armem::MemoryID providerID;
+        if (true)
+        {
+            armem::data::AddSegmentInput input;
+            input.coreSegmentName = "ExampleCoreSegment";
+            input.providerSegmentName = "ExampleProvider";
+
+            ARMARX_INFO << "Adding segment:"
+                        << "\n- core segment:     \t'" << input.coreSegmentName << "'"
+                        << "\n- provider segment: \t'" << input.providerSegmentName << "'"
+                           ;
+
+            armem::data::AddSegmentOutput output = memory->addSegment(input);
+
+            ARMARX_INFO << "Output: "
+                        << "\n- success:      \t" << output.success
+                        << "\n- segmentID:    \t" << output.segmentID
+                        << "\n- errorMessage: \t" << output.errorMessage
+                           ;
+
+            providerID = armem::MemoryID::fromString(output.segmentID);
+        }
+
+        if (true)
+        {
+            armem::Commit commit;
+            armem::EntityUpdate& update = commit.updates.emplace_back();
+
+            update.entityID = providerID;
+            update.entityID.entityName = "example_entity";
+            update.timeCreated = armem::Time::now();
+            update.instancesData = { new aron::AronData(), new aron::AronData() };
+
+            ARMARX_INFO << "Committing:"
+                        << "\n- entityID:     \t'" << update.entityID.str() << "'"
+                           ;
+
+            // Sending
+            update.timeSent = armem::Time::now();
+
+            armem::data::Commit commitIce;
+            armem::toIce(commitIce, commit);
+            armem::data::CommitResult commitResult = memory->commit(commitIce);
+
+            ARMARX_CHECK_EQUAL(commitResult.results.size(), 1);
+            armem::data::EntityUpdateResult& result = commitResult.results.at(0);
+
+            ARMARX_INFO << "Result: "
+                        << "\n- snapshotID:        \t" << result.snapshotID
+                        << "\n- time arrived (us): \t" << result.timeArrivedMicroSeconds
+                           ;
+        }
+    }
+
+
+    void ArMemExampleClient::onDisconnectComponent()
+    {
+    }
+
+
+    void ArMemExampleClient::onExitComponent()
+    {
+    }
+
+
+    void ArMemExampleClient::RemoteGui_update()
+    {
+
+    }
+
+}

source/RobotAPI/components/ArMemExampleClient/ArMemExampleClient.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::ArmarXObjects::ArMemExampleClient
+ * @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/core/Component.h>
+
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+
+// #include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+
+#include <RobotAPI/interface/armem/MemoryInterface.h>
+
+
+namespace armarx
+{
+    /**
+     * @class ArMemExampleClientPropertyDefinitions
+     * @brief Property definitions of `ArMemExampleClient`.
+     */
+    class ArMemExampleClientPropertyDefinitions :
+        public armarx::ComponentPropertyDefinitions
+    {
+    public:
+        ArMemExampleClientPropertyDefinitions(std::string prefix);
+    };
+
+
+
+    /**
+     * @defgroup Component-ArMemExampleClient ArMemExampleClient
+     * @ingroup RobotAPI-Components
+     * A description of the component ArMemExampleClient.
+     *
+     * @class ArMemExampleClient
+     * @ingroup Component-ArMemExampleClient
+     * @brief Brief description of class ArMemExampleClient.
+     *
+     * Detailed description of class ArMemExampleClient.
+     */
+    class ArMemExampleClient :
+        virtual public armarx::Component
+        , virtual public LightweightRemoteGuiComponentPluginUser
+    //, virtual public armarx::ArVizComponentPluginUser
+    {
+    public:
+
+        /// @see armarx::ManagedIceObject::getDefaultName()
+        std::string getDefaultName() const override;
+
+
+        // LightweightRemoteGuiComponentPluginUser interface
+    public:
+        void RemoteGui_update() override;
+
+
+    protected:
+
+        /// @see armarx::ManagedIceObject::onInitComponent()
+        void onInitComponent() override;
+
+        /// @see armarx::ManagedIceObject::onConnectComponent()
+        void onConnectComponent() override;
+
+        /// @see armarx::ManagedIceObject::onDisconnectComponent()
+        void onDisconnectComponent() override;
+
+        /// @see armarx::ManagedIceObject::onExitComponent()
+        void onExitComponent() override;
+
+        /// @see PropertyUser::createPropertyDefinitions()
+        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+
+    private:
+
+        armarx::DebugObserverInterfacePrx debugObserver;
+
+        armem::MemoryInterfacePrx memory;
+
+    };
+}

source/RobotAPI/components/ArMemExampleClient/CMakeLists.txt

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

source/RobotAPI/components/ArMemExampleClient/test/ArMemExampleClientTest.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::ArmarXObjects::ArMemExampleClient
+ * @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
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::ArMemExampleClient
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include "../ArMemExampleClient.h"
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+    armarx::ArMemExampleClient instance;
+
+    BOOST_CHECK_EQUAL(true, true);
+}

source/RobotAPI/components/ArMemExampleClient/test/CMakeLists.txt

+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore ArMemExampleClient)
+ 
+armarx_add_test(ArMemExampleClientTest ArMemExampleClientTest.cpp "${LIBS}")

source/RobotAPI/components/CMakeLists.txt

@@ -3,6 +3,7 @@ add_subdirectory(units)
 add_subdirectory(ArViz)
 
 add_subdirectory(ArMemExampleMemory)
+add_subdirectory(ArMemExampleClient)
 add_subdirectory(ArMemGlobalStorage)
 add_subdirectory(ArMemLocalStorage)