From af839a4fad44e6cea12dd82baa1eab9061d57fa8 Mon Sep 17 00:00:00 2001
From: "fabian.peller-konrad@kit.edu" <fabian.peller-konrad@kit.edu>
Date: Fri, 23 Jul 2021 16:40:44 +0200
Subject: [PATCH] motionMemory and subjectMemory (first draft, not ready yet)
---
.../components/armem/server/CMakeLists.txt | 2 +
.../armem/server/MotionMemory/CMakeLists.txt | 28 ++++
.../server/MotionMemory/MotionMemory.cpp | 73 +++++++++
.../armem/server/MotionMemory/MotionMemory.h | 71 +++++++++
.../server/MotionMemory/test/CMakeLists.txt | 5 +
.../MotionMemory/test/MotionMemoryTest.cpp | 40 +++++
.../armem/server/SubjectMemory/CMakeLists.txt | 28 ++++
.../server/SubjectMemory/SubjectMemory.cpp | 73 +++++++++
.../server/SubjectMemory/SubjectMemory.h | 71 +++++++++
.../server/SubjectMemory/test/CMakeLists.txt | 5 +
.../SubjectMemory/test/SubjectMemoryTest.cpp | 40 +++++
source/RobotAPI/interface/CMakeLists.txt | 2 +
.../RobotAPI/interface/mdb/MotionDatabase.ice | 146 ++++++++++++++++++
source/RobotAPI/libraries/CMakeLists.txt | 2 +
.../libraries/PriorKnowledge/CMakeLists.txt | 4 +
.../PriorKnowledge/core/CMakeLists.txt | 21 +++
.../PriorKnowledge/core/FinderBase.cpp | 1 +
.../PriorKnowledge/core/FinderBase.h | 132 ++++++++++++++++
.../PriorKnowledge/core/FinderInfoBase.cpp | 1 +
.../PriorKnowledge/core/FinderInfoBase.h | 115 ++++++++++++++
.../PriorKnowledge/motions/CMakeLists.txt | 19 +++
.../PriorKnowledge/motions/MotionFinder.cpp | 133 ++++++++++++++++
.../PriorKnowledge/motions/MotionFinder.h | 50 ++++++
.../RobotAPI/libraries/armem/CMakeLists.txt | 2 +
.../libraries/armem/server/Segment.cpp | 1 +
.../RobotAPI/libraries/armem/server/Segment.h | 99 ++++++++++++
.../libraries/armem_motions/CMakeLists.txt | 26 ++++
.../libraries/armem_motions/aron/MMM.xml | 44 ++++++
.../server/MotionDatabase/MotionConverter.cpp | 0
.../server/MotionDatabase/MotionConverter.h | 0
.../server/MotionDatabase/Segment.cpp | 55 +++++++
.../server/MotionDatabase/Segment.h | 38 +++++
.../libraries/aron/common/CMakeLists.txt | 13 +-
.../libraries/aron/common/aron/SimplePose.xml | 27 ++++
.../aron/common/aron/SimplePosition.xml | 26 ++++
.../aron/common/aron/SimpleTrajectory.xml | 26 ++++
.../libraries/aron/converter/CMakeLists.txt | 5 +-
.../libraries/aron/core/CMakeLists.txt | 2 +
38 files changed, 1419 insertions(+), 7 deletions(-)
create mode 100644 source/RobotAPI/components/armem/server/MotionMemory/CMakeLists.txt
create mode 100644 source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
create mode 100644 source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h
create mode 100644 source/RobotAPI/components/armem/server/MotionMemory/test/CMakeLists.txt
create mode 100644 source/RobotAPI/components/armem/server/MotionMemory/test/MotionMemoryTest.cpp
create mode 100644 source/RobotAPI/components/armem/server/SubjectMemory/CMakeLists.txt
create mode 100644 source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.cpp
create mode 100644 source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.h
create mode 100644 source/RobotAPI/components/armem/server/SubjectMemory/test/CMakeLists.txt
create mode 100644 source/RobotAPI/components/armem/server/SubjectMemory/test/SubjectMemoryTest.cpp
create mode 100644 source/RobotAPI/interface/mdb/MotionDatabase.ice
create mode 100644 source/RobotAPI/libraries/PriorKnowledge/CMakeLists.txt
create mode 100644 source/RobotAPI/libraries/PriorKnowledge/core/CMakeLists.txt
create mode 100644 source/RobotAPI/libraries/PriorKnowledge/core/FinderBase.cpp
create mode 100644 source/RobotAPI/libraries/PriorKnowledge/core/FinderBase.h
create mode 100644 source/RobotAPI/libraries/PriorKnowledge/core/FinderInfoBase.cpp
create mode 100644 source/RobotAPI/libraries/PriorKnowledge/core/FinderInfoBase.h
create mode 100644 source/RobotAPI/libraries/PriorKnowledge/motions/CMakeLists.txt
create mode 100644 source/RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.cpp
create mode 100644 source/RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.h
create mode 100644 source/RobotAPI/libraries/armem/server/Segment.cpp
create mode 100644 source/RobotAPI/libraries/armem/server/Segment.h
create mode 100644 source/RobotAPI/libraries/armem_motions/CMakeLists.txt
create mode 100644 source/RobotAPI/libraries/armem_motions/aron/MMM.xml
create mode 100644 source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MotionConverter.cpp
create mode 100644 source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MotionConverter.h
create mode 100644 source/RobotAPI/libraries/armem_motions/server/MotionDatabase/Segment.cpp
create mode 100644 source/RobotAPI/libraries/armem_motions/server/MotionDatabase/Segment.h
create mode 100644 source/RobotAPI/libraries/aron/common/aron/SimplePose.xml
create mode 100644 source/RobotAPI/libraries/aron/common/aron/SimplePosition.xml
create mode 100644 source/RobotAPI/libraries/aron/common/aron/SimpleTrajectory.xml
diff --git a/source/RobotAPI/components/armem/server/CMakeLists.txt b/source/RobotAPI/components/armem/server/CMakeLists.txt
index 48313a312..824eaa493 100644
--- a/source/RobotAPI/components/armem/server/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/server/CMakeLists.txt
@@ -3,3 +3,5 @@ add_subdirectory(GeneralPurposeMemory)
add_subdirectory(ObjectMemory)
add_subdirectory(RobotStateMemory)
add_subdirectory(SkillsMemory)
+#add_subdirectory(SubjectMemory)
+add_subdirectory(MotionMemory)
diff --git a/source/RobotAPI/components/armem/server/MotionMemory/CMakeLists.txt b/source/RobotAPI/components/armem/server/MotionMemory/CMakeLists.txt
new file mode 100644
index 000000000..2bb05c404
--- /dev/null
+++ b/source/RobotAPI/components/armem/server/MotionMemory/CMakeLists.txt
@@ -0,0 +1,28 @@
+armarx_component_set_name("MotionMemory")
+
+
+set(COMPONENT_LIBS
+ ArmarXCore ArmarXCoreInterfaces # for DebugObserverInterface
+ ArmarXGuiComponentPlugins
+ RobotAPICore RobotAPIInterfaces armem armem_motions
+ # RobotAPIComponentPlugins # for ArViz and other plugins
+)
+
+set(SOURCES
+ MotionMemory.cpp
+)
+set(HEADERS
+ MotionMemory.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+
+# add unit tests
+add_subdirectory(test)
+
+#generate the application
+armarx_generate_and_add_component_executable()
+
+
+
diff --git a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
new file mode 100644
index 000000000..6e49ca1cc
--- /dev/null
+++ b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
@@ -0,0 +1,73 @@
+/*
+ * 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::ExampleMemory
+ * @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 "MotionMemory.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <SimoxUtility/algorithm/string.h>
+
+#include <RobotAPI/libraries/armem/core/error.h>
+
+
+namespace armarx
+{
+ armarx::PropertyDefinitionsPtr MotionMemory::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+
+ const std::string prefix = "mem.";
+ defs->optional(memoryName, prefix + "MemoryName", "Name of this memory (server).");
+ mdbMotions.defineProperties(defs, prefix + "mdb.");
+ return defs;
+ }
+
+ MotionMemory::MotionMemory() :
+ mdbMotions(armem::server::ComponentPluginUser::iceMemory, armem::server::ComponentPluginUser::workingMemoryMutex)
+ {
+
+ }
+
+
+ std::string MotionMemory::getDefaultName() const
+ {
+ return "MotionMemory";
+ }
+
+ void MotionMemory::onInitComponent()
+ {
+ workingMemory.name() = memoryName;
+ longtermMemory.name() = memoryName;
+ }
+
+ void MotionMemory::onConnectComponent()
+ {
+ }
+
+ void MotionMemory::onDisconnectComponent()
+ {
+ }
+
+ void MotionMemory::onExitComponent()
+ {
+ }
+}
diff --git a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h
new file mode 100644
index 000000000..e1bc19268
--- /dev/null
+++ b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h
@@ -0,0 +1,71 @@
+/*
+ * 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::ExampleMemory
+ * @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 <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+
+#include <RobotAPI/libraries/armem_motions/server/MotionDatabase/Segment.h>
+
+namespace armarx
+{
+ /**
+ * @defgroup Component-ExampleMemory ExampleMemory
+ * @ingroup RobotAPI-Components
+ * A description of the component ExampleMemory.
+ *
+ * @class ExampleMemory
+ * @ingroup Component-ExampleMemory
+ * @brief Brief description of class ExampleMemory.
+ *
+ * Detailed description of class ExampleMemory.
+ */
+ class MotionMemory :
+ virtual public armarx::Component
+ , virtual public armem::server::ComponentPluginUser
+ {
+ public:
+
+ MotionMemory();
+
+ /// @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;
+
+
+ private:
+ std::string memoryName = "Motion";
+
+ armem::server::motions::mdb::Segment mdbMotions;
+
+ };
+}
diff --git a/source/RobotAPI/components/armem/server/MotionMemory/test/CMakeLists.txt b/source/RobotAPI/components/armem/server/MotionMemory/test/CMakeLists.txt
new file mode 100644
index 000000000..42be84a2d
--- /dev/null
+++ b/source/RobotAPI/components/armem/server/MotionMemory/test/CMakeLists.txt
@@ -0,0 +1,5 @@
+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore MotionMemory)
+
+armarx_add_test(MotionMemoryTest MotionMemoryTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/components/armem/server/MotionMemory/test/MotionMemoryTest.cpp b/source/RobotAPI/components/armem/server/MotionMemory/test/MotionMemoryTest.cpp
new file mode 100644
index 000000000..5eda6d831
--- /dev/null
+++ b/source/RobotAPI/components/armem/server/MotionMemory/test/MotionMemoryTest.cpp
@@ -0,0 +1,40 @@
+/*
+ * 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::ExampleMemory
+ * @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::ExampleMemory
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include "../MotionMemory.h"
+
+#include <RobotAPI/libraries/armem/core.h>
+
+#include <iostream>
+
+namespace armem = armarx::armem;
+
+
+BOOST_AUTO_TEST_CASE(test_ExampleData_type)
+{
+
+}
diff --git a/source/RobotAPI/components/armem/server/SubjectMemory/CMakeLists.txt b/source/RobotAPI/components/armem/server/SubjectMemory/CMakeLists.txt
new file mode 100644
index 000000000..bf9a3ba66
--- /dev/null
+++ b/source/RobotAPI/components/armem/server/SubjectMemory/CMakeLists.txt
@@ -0,0 +1,28 @@
+armarx_component_set_name("SubjectMemory")
+
+
+set(COMPONENT_LIBS
+ ArmarXCore ArmarXCoreInterfaces # for DebugObserverInterface
+ ArmarXGuiComponentPlugins
+ RobotAPICore RobotAPIInterfaces armem armem_motions
+ # RobotAPIComponentPlugins # for ArViz and other plugins
+)
+
+set(SOURCES
+ SubjectMemory.cpp
+)
+set(HEADERS
+ SubjectMemory.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+
+# add unit tests
+add_subdirectory(test)
+
+#generate the application
+armarx_generate_and_add_component_executable()
+
+
+
diff --git a/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.cpp b/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.cpp
new file mode 100644
index 000000000..d23b8cd13
--- /dev/null
+++ b/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.cpp
@@ -0,0 +1,73 @@
+/*
+ * 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::ExampleMemory
+ * @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 "SubjectMemory.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <SimoxUtility/algorithm/string.h>
+
+#include <RobotAPI/libraries/armem/core/error.h>
+
+
+namespace armarx
+{
+ armarx::PropertyDefinitionsPtr SubjectMemory::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+
+ const std::string prefix = "mem.";
+ defs->optional(memoryName, prefix + "MemoryName", "Name of this memory (server).");
+ mdbMotions.defineProperties(defs, prefix + "mdb.");
+ return defs;
+ }
+
+ SubjectMemory::SubjectMemory() :
+ mdbMotions(armem::server::ComponentPluginUser::iceMemory, armem::server::ComponentPluginUser::workingMemoryMutex)
+ {
+
+ }
+
+
+ std::string SubjectMemory::getDefaultName() const
+ {
+ return "MotionMemory";
+ }
+
+ void SubjectMemory::onInitComponent()
+ {
+ workingMemory.name() = memoryName;
+ longtermMemory.name() = memoryName;
+ }
+
+ void SubjectMemory::onConnectComponent()
+ {
+ }
+
+ void SubjectMemory::onDisconnectComponent()
+ {
+ }
+
+ void SubjectMemory::onExitComponent()
+ {
+ }
+}
diff --git a/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.h b/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.h
new file mode 100644
index 000000000..2382459ee
--- /dev/null
+++ b/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.h
@@ -0,0 +1,71 @@
+/*
+ * 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::ExampleMemory
+ * @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 <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+
+#include <RobotAPI/libraries/armem_subjects/server/MotionDatabase/Segment.h>
+
+namespace armarx
+{
+ /**
+ * @defgroup Component-ExampleMemory ExampleMemory
+ * @ingroup RobotAPI-Components
+ * A description of the component ExampleMemory.
+ *
+ * @class ExampleMemory
+ * @ingroup Component-ExampleMemory
+ * @brief Brief description of class ExampleMemory.
+ *
+ * Detailed description of class ExampleMemory.
+ */
+ class SubjectMemory :
+ virtual public armarx::Component
+ , virtual public armem::server::ComponentPluginUser
+ {
+ public:
+
+ SubjectMemory();
+
+ /// @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;
+
+
+ private:
+ std::string memoryName = "Subject";
+
+ armem::server::subjects::mdb::Segment mdbSubjects;
+
+ };
+}
diff --git a/source/RobotAPI/components/armem/server/SubjectMemory/test/CMakeLists.txt b/source/RobotAPI/components/armem/server/SubjectMemory/test/CMakeLists.txt
new file mode 100644
index 000000000..c5f60466c
--- /dev/null
+++ b/source/RobotAPI/components/armem/server/SubjectMemory/test/CMakeLists.txt
@@ -0,0 +1,5 @@
+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore SubjectMemory)
+
+armarx_add_test(SubjectMemoryTest SubjectMemoryTest.cpp "${LIBS}")
diff --git a/source/RobotAPI/components/armem/server/SubjectMemory/test/SubjectMemoryTest.cpp b/source/RobotAPI/components/armem/server/SubjectMemory/test/SubjectMemoryTest.cpp
new file mode 100644
index 000000000..5eda6d831
--- /dev/null
+++ b/source/RobotAPI/components/armem/server/SubjectMemory/test/SubjectMemoryTest.cpp
@@ -0,0 +1,40 @@
+/*
+ * 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::ExampleMemory
+ * @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::ExampleMemory
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include "../MotionMemory.h"
+
+#include <RobotAPI/libraries/armem/core.h>
+
+#include <iostream>
+
+namespace armem = armarx::armem;
+
+
+BOOST_AUTO_TEST_CASE(test_ExampleData_type)
+{
+
+}
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index b2913fb4c..a026e17c6 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -136,6 +136,8 @@ set(SLICE_FILES
skills/SkillObserverInterface.ice
skills/SkillProviderInterface.ice
+
+ mdb/MotionDatabase.ice
)
#core/RobotIK.ice
set(SLICE_FILES_ADDITIONAL_HEADERS
diff --git a/source/RobotAPI/interface/mdb/MotionDatabase.ice b/source/RobotAPI/interface/mdb/MotionDatabase.ice
new file mode 100644
index 000000000..2ca77b0b9
--- /dev/null
+++ b/source/RobotAPI/interface/mdb/MotionDatabase.ice
@@ -0,0 +1,146 @@
+#include <Glacier2/Session.ice>
+
+module MotionDatabase {
+ exception InternalErrorException {
+ string errorMessage;
+ };
+
+ exception InvalidParameterException {
+ string parameterName;
+ };
+
+ exception NotAuthorizedException {};
+ exception TooManyOpenFilesException {};
+
+ class Institution;
+ class MotionDescriptionTreeNode;
+ class File;
+ class Motion;
+ class Project;
+ class Subject;
+ class MoCapObject;
+
+ sequence<byte> ByteSequence;
+ sequence<long> LongSequence;
+ sequence<string> StringSequence;
+ sequence<Institution> InstitutionList;
+ sequence<MotionDescriptionTreeNode> MotionDescriptionTreeNodeList;
+ sequence<File> FileList;
+ sequence<Motion> MotionList;
+ sequence<Project> ProjectList;
+ sequence<Subject> SubjectList;
+ sequence<MoCapObject> MoCapObjectList;
+
+ dictionary<string, short> StringShortDictionary;
+
+ enum VisibilityLevel { Public, Protected, Internal };
+
+ class Institution {
+ long id;
+ string acronym;
+ string name;
+ };
+
+ class MotionDescriptionTreeNode {
+ long id;
+ string label;
+ MotionDescriptionTreeNodeList children;
+ };
+
+ class DatabaseObject {
+ long id;
+ long createdDate;
+ string createdUser;
+ long modifiedDate;
+ string modifiedUser;
+ StringSequence writeGroups;
+ StringSequence readProtectedGroups;
+ StringShortDictionary fileTypeCounts;
+ };
+
+ class File {
+ long id;
+ long createdDate;
+ string createdUser;
+ string fileName;
+ string fileType;
+ long attachedToId;
+ string description;
+ VisibilityLevel visibility;
+ File originatedFrom;
+ };
+
+ class Motion extends DatabaseObject {
+ Institution associatedInstitution;
+ MotionDescriptionTreeNodeList motionDescriptions;
+ Project associatedProject;
+ SubjectList associatedSubjects;
+ MoCapObjectList associatedObjects;
+ string date;
+ string comment;
+ };
+
+ class Project extends DatabaseObject {
+ string name;
+ string comment;
+ };
+
+ class Subject extends DatabaseObject {
+ string firstName;
+ string lastName;
+ string comment;
+ byte gender;
+ short age;
+ short weight;
+ short height;
+ StringShortDictionary anthropometricsTable;
+ };
+
+ class MoCapObject extends DatabaseObject {
+ string label;
+ string comment;
+ string modelSettingsJSON;
+ };
+
+ interface FileReader {
+ void destroy();
+
+ idempotent long getSize() throws InternalErrorException;
+ ByteSequence readChunk(long length) throws InternalErrorException, InvalidParameterException;
+ idempotent void seek(long pos) throws InternalErrorException, InvalidParameterException;
+ };
+
+ interface FileWriter {
+ void destroy();
+
+ void writeChunk(ByteSequence data) throws InternalErrorException;
+ };
+
+ interface MotionDatabaseSession extends Glacier2::Session {
+ idempotent string pingServer(string echoString);
+
+ idempotent InstitutionList listInstitutions() throws InternalErrorException;
+ idempotent MotionDescriptionTreeNodeList getMotionDescriptionTree() throws InternalErrorException;
+
+ idempotent Motion getMotion(long motionId) throws InternalErrorException, InvalidParameterException;
+ idempotent long countMotions(LongSequence filterMotionDescription, LongSequence filterProject, LongSequence filterInstitution,
+ LongSequence filterSubject, LongSequence filterObject, string motionDescriptionSearchTerm) throws InternalErrorException,
+ InvalidParameterException;
+ idempotent MotionList listMotions(LongSequence filterMotionDescription, LongSequence filterProject, LongSequence filterInstitution,
+ LongSequence filterSubject, LongSequence filterObject, string motionDescriptionSearchTerm, string sortField, long limit,
+ long offset) throws InternalErrorException, InvalidParameterException;
+ idempotent ProjectList listProjects() throws InternalErrorException;
+ idempotent SubjectList listSubjects() throws InternalErrorException;
+ idempotent MoCapObjectList listObjects() throws InternalErrorException;
+
+ idempotent File getFile(long fileId) throws InternalErrorException, InvalidParameterException;
+ idempotent FileList listFiles(long databaseObjectId) throws InternalErrorException, InvalidParameterException;
+ idempotent FileReader* getFileReader(long fileId) throws InternalErrorException, InvalidParameterException, NotAuthorizedException,
+ TooManyOpenFilesException;
+
+ FileWriter* getFileWriter(long databaseObjectId, string fileName, string fileType, string description, VisibilityLevel visibility,
+ optional(1) long originatedFromId) throws InternalErrorException, InvalidParameterException, NotAuthorizedException,
+ TooManyOpenFilesException;
+ void deleteFile(long fileId) throws InternalErrorException, InvalidParameterException, NotAuthorizedException;
+ };
+};
diff --git a/source/RobotAPI/libraries/CMakeLists.txt b/source/RobotAPI/libraries/CMakeLists.txt
index 02e5c638b..c5f89815a 100644
--- a/source/RobotAPI/libraries/CMakeLists.txt
+++ b/source/RobotAPI/libraries/CMakeLists.txt
@@ -1,5 +1,6 @@
add_subdirectory(ArmarXEtherCAT)
add_subdirectory(ArmarXObjects)
+add_subdirectory(PriorKnowledge)
add_subdirectory(ControllerUIUtility)
add_subdirectory(core)
add_subdirectory(DebugDrawerConfigWidget)
@@ -24,6 +25,7 @@ add_subdirectory(armem_robot)
add_subdirectory(armem_robot_state)
add_subdirectory(armem_vision)
add_subdirectory(armem_skills)
+add_subdirectory(armem_motions)
add_subdirectory(aron)
add_subdirectory(NJointControllerGuiPluginUtility)
diff --git a/source/RobotAPI/libraries/PriorKnowledge/CMakeLists.txt b/source/RobotAPI/libraries/PriorKnowledge/CMakeLists.txt
new file mode 100644
index 000000000..596f554c1
--- /dev/null
+++ b/source/RobotAPI/libraries/PriorKnowledge/CMakeLists.txt
@@ -0,0 +1,4 @@
+add_subdirectory(core)
+add_subdirectory(motions)
+#add_subdirectory(subjects)
+
diff --git a/source/RobotAPI/libraries/PriorKnowledge/core/CMakeLists.txt b/source/RobotAPI/libraries/PriorKnowledge/core/CMakeLists.txt
new file mode 100644
index 000000000..d9adff9e0
--- /dev/null
+++ b/source/RobotAPI/libraries/PriorKnowledge/core/CMakeLists.txt
@@ -0,0 +1,21 @@
+set(LIB_NAME ${PROJECT_NAME}PriorKnowledgeCore)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+ LIBS
+ RobotAPI::Core
+ RobotAPI::Aron::Common
+ SOURCES
+ FinderBase.cpp
+ FinderInfoBase.cpp
+ HEADERS
+ FinderBase.h
+ FinderInfoBase.h
+)
+
+add_library(${PROJECT_NAME}::PriorKnowledge::Core ALIAS ${PROJECT_NAME}PriorKnowledgeCore)
+
+# add unit tests
+#add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/PriorKnowledge/core/FinderBase.cpp b/source/RobotAPI/libraries/PriorKnowledge/core/FinderBase.cpp
new file mode 100644
index 000000000..6b7847a51
--- /dev/null
+++ b/source/RobotAPI/libraries/PriorKnowledge/core/FinderBase.cpp
@@ -0,0 +1 @@
+#include "FinderBase.h"
diff --git a/source/RobotAPI/libraries/PriorKnowledge/core/FinderBase.h b/source/RobotAPI/libraries/PriorKnowledge/core/FinderBase.h
new file mode 100644
index 000000000..14d469934
--- /dev/null
+++ b/source/RobotAPI/libraries/PriorKnowledge/core/FinderBase.h
@@ -0,0 +1,132 @@
+#pragma once
+
+// STD/STL
+#include <string>
+#include <filesystem>
+#include <optional>
+
+// Base Class
+#include <ArmarXCore/core/logging/Logging.h>
+
+// ArmarX
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
+
+
+namespace armarx::priorknowledge::core
+{
+ template <class IDType, class FinderInfoType>
+ class FinderBase : public Logging
+ {
+ public:
+ FinderBase() = delete;
+ FinderBase(const std::string& packageName, const std::filesystem::path& relDir) :
+ packageName(packageName),
+ relPackageDataPath(relDir)
+ {}
+
+ FinderBase(FinderBase&&) = default;
+ FinderBase(const FinderBase&) = default;
+ FinderBase& operator=(FinderBase&&) = default;
+ FinderBase& operator=(const FinderBase&) = default;
+
+ void setPackageNameAndReinitialize(const std::string& p)
+ {
+ packageName = p;
+ onInit();
+ }
+
+ void setRelativePath(const std::filesystem::path& p)
+ {
+ relPackageDataPath = p;
+ }
+
+ std::string getPackageName() const
+ {
+ return packageName;
+ }
+
+ std::filesystem::path getRelativePath() const
+ {
+ return relPackageDataPath;
+ }
+
+ std::filesystem::path getAbsolutePackagePath() const
+ {
+ checkAbsolutePathIsValid();
+ return absPackageDataDir;
+ }
+
+ std::filesystem::path getFullPath() const
+ {
+ checkAbsolutePathIsValid();
+ return absPackageDataDir / packageName / relPackageDataPath;
+ }
+
+ virtual bool checkAll() const = 0;
+ virtual bool check(const IDType& id) const = 0;
+ virtual std::optional<FinderInfoType> find(const IDType& id) const = 0;
+ virtual std::vector<FinderInfoType> findAll() const = 0;
+
+ protected:
+ void checkAbsolutePathIsValid() const
+ {
+ if (std::filesystem::exists(absPackageDataDir))
+ {
+ ARMARX_ERROR << "PriorKnowledgeFinder is not initialized yet. Could not resolve absolute path for package '" << packageName << "'.";
+ }
+ }
+
+ virtual void onInit()
+ {
+ if (absPackageDataDir.empty())
+ {
+ CMakePackageFinder packageFinder(packageName);
+ absPackageDataDir = packageFinder.getDataDir();
+ if (absPackageDataDir.empty())
+ {
+ ARMARX_WARNING << "Could not find package '" << packageName << "'.";
+ // throw LocalException() << "Could not find package '" << packageName << "'.";
+ }
+ else
+ {
+ ARMARX_DEBUG << "PriorKnowledgeFinder root directory: " << getFullPath();
+
+ // make sure this data path is available => e.g. for findArticulatedObjects
+ armarx::ArmarXDataPath::addDataPaths(std::vector<std::string> {absPackageDataDir});
+ }
+ }
+ }
+
+ protected:
+
+ private:
+ std::string packageName;
+ std::filesystem::path relPackageDataPath;
+ std::filesystem::path absPackageDataDir;
+ };
+
+
+ template <class IDType, class DatasetType, class FinderInfoType> // TODO: concept DatasetFinderInfoType
+ class DatasetFinderBase : public FinderBase<IDType, FinderInfoType>
+ {
+
+ public:
+ using Base = FinderBase<IDType, FinderInfoType>;
+
+ DatasetFinderBase(const std::string& packageName, const std::filesystem::path& relDir) :
+ Base(packageName, relDir)
+ {}
+
+ std::filesystem::path getFullPath(const std::filesystem::path& relDatasetPath) const
+ {
+ return Base::getFullPath() / relDatasetPath;
+ }
+
+ virtual bool checkAll(const DatasetType& dataset) const = 0;
+ virtual bool check(const DatasetType& dataset, const IDType& id) const = 0;
+ virtual std::optional<FinderInfoType> find(const DatasetType& dataset, const IDType& id) const = 0;
+ virtual std::vector<FinderInfoType> findAll(const DatasetType& dataset) const = 0;
+ };
+}
diff --git a/source/RobotAPI/libraries/PriorKnowledge/core/FinderInfoBase.cpp b/source/RobotAPI/libraries/PriorKnowledge/core/FinderInfoBase.cpp
new file mode 100644
index 000000000..46ed5497b
--- /dev/null
+++ b/source/RobotAPI/libraries/PriorKnowledge/core/FinderInfoBase.cpp
@@ -0,0 +1 @@
+#include "FinderInfoBase.h"
diff --git a/source/RobotAPI/libraries/PriorKnowledge/core/FinderInfoBase.h b/source/RobotAPI/libraries/PriorKnowledge/core/FinderInfoBase.h
new file mode 100644
index 000000000..d4cf689be
--- /dev/null
+++ b/source/RobotAPI/libraries/PriorKnowledge/core/FinderInfoBase.h
@@ -0,0 +1,115 @@
+#pragma once
+
+// STD/STL
+#include <string>
+#include <filesystem>
+#include <optional>
+
+// Base Class
+#include <ArmarXCore/core/logging/Logging.h>
+
+// ArmarX
+#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+namespace armarx::priorknowledge::core
+{
+
+ struct PackageFileLocation
+ {
+ /// Name of the ArmarX package.
+ std::string package;
+
+ /// Relative to the package's data directory.
+ std::filesystem::path relativePath;
+
+ /// The absolute path (in the host's file system).
+ std::filesystem::path absolutePath;
+ };
+
+ template <class IDType>
+ class FinderInfoBase
+ {
+ public:
+ FinderInfoBase(const std::string& packageName, const std::filesystem::path& absPackageDataDir, const std::filesystem::path& relPackageDataPath, const IDType& id) :
+ packageName(packageName),
+ absPackageDataDir(absPackageDataDir),
+ relPackageDataPath(relPackageDataPath),
+ id(id)
+ {}
+
+ std::string getPackageName() const
+ {
+ return packageName;
+ }
+
+ std::filesystem::path getRelativePath() const
+ {
+ return relPackageDataPath;
+ }
+
+ std::filesystem::path getAbsolutePackagePath() const
+ {
+ checkAbsolutePathIsValid();
+ return absPackageDataDir;
+ }
+
+ virtual std::filesystem::path getFullPath() const
+ {
+ checkAbsolutePathIsValid();
+ return absPackageDataDir / packageName / relPackageDataPath;
+ }
+
+ IDType getID() const
+ {
+ return id;
+ }
+
+ protected:
+ void checkAbsolutePathIsValid() const
+ {
+ if (std::filesystem::exists(absPackageDataDir))
+ {
+ ARMARX_ERROR << "Could not resolve absolute path for package '" << packageName << "'.";
+ }
+ }
+
+
+ protected:
+ bool logError = true;
+
+ private:
+ std::string packageName;
+ std::filesystem::path absPackageDataDir;
+ std::filesystem::path relPackageDataPath;
+ IDType id;
+ };
+
+ template <class IDType, class DatasetType>
+ class DatasetFinderInfoBase : public FinderInfoBase<IDType>
+ {
+
+ public:
+ using Base = FinderInfoBase<IDType>;
+
+ DatasetFinderInfoBase(const std::string& packageName, const std::filesystem::path& absPackageDataDir, const std::filesystem::path& relPackageDataPath, const std::filesystem::path& relDatasetPath, const DatasetType& dataset, const IDType& id) :
+ Base(packageName, absPackageDataDir, relPackageDataPath, id),
+ dataset(dataset)
+ {}
+
+ virtual std::filesystem::path getFullPath() const override
+ {
+ return Base::getFullPath() / relDatasetPath;
+ }
+
+ DatasetType getDataset() const
+ {
+ return dataset;
+ }
+
+ private:
+ DatasetType dataset;
+ std::filesystem::path relDatasetPath;
+ };
+}
diff --git a/source/RobotAPI/libraries/PriorKnowledge/motions/CMakeLists.txt b/source/RobotAPI/libraries/PriorKnowledge/motions/CMakeLists.txt
new file mode 100644
index 000000000..7f4b2c007
--- /dev/null
+++ b/source/RobotAPI/libraries/PriorKnowledge/motions/CMakeLists.txt
@@ -0,0 +1,19 @@
+set(LIB_NAME ${PROJECT_NAME}PriorKnowledgeMotions)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+ LIBS
+ RobotAPI::Core
+ RobotAPI::Aron::Common
+ SOURCES
+ MotionFinder.cpp
+ HEADERS
+ MotionFinder.h
+)
+
+add_library(${PROJECT_NAME}::PriorKnowledge::Motions ALIAS ${PROJECT_NAME}PriorKnowledgeMotions)
+
+# add unit tests
+#add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.cpp b/source/RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.cpp
new file mode 100644
index 000000000..8fa71a62b
--- /dev/null
+++ b/source/RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.cpp
@@ -0,0 +1,133 @@
+// Simox
+#include <SimoxUtility/algorithm/vector.hpp>
+
+// BaseClass
+#include "MotionFinder.h"
+
+// ArmarX
+
+namespace armarx::priorknowledge::motions
+{
+ bool MotionFinder::checkAll() const
+ {
+ return true;
+ }
+
+ bool MotionFinder::check(const std::string &id) const
+ {
+ return true;
+ }
+
+ std::optional<MotionFinderInfo> MotionFinder::find(const std::string &id) const
+ {
+ const std::filesystem::path absPath = Base::Base::getFullPath();
+ if (std::filesystem::is_regular_file(absPath))
+ {
+ ARMARX_WARNING << "The entered path is leading to a file!";
+ return std::nullopt;
+ }
+
+ for (const auto& d : std::filesystem::directory_iterator(absPath))
+ {
+ if (!d.is_directory())
+ {
+ ARMARX_WARNING << "Found invalid path: " << d.path();
+ continue;
+ }
+ std::string k = d.path().filename();
+ if (simox::alg::contains(DATASET_FOLDERS_BLACKLIST, k))
+ {
+ continue;
+ }
+
+ if (const auto op = this->find(k, id); op.has_value())
+ {
+ return op;
+ }
+ }
+ return std::nullopt;
+ }
+
+ std::vector<MotionFinderInfo> MotionFinder::findAll() const
+ {
+ const std::filesystem::path absPath = Base::Base::getFullPath();
+ if (std::filesystem::is_regular_file(absPath))
+ {
+ ARMARX_WARNING << "The entered path is leading to a file!";
+ return {};
+ }
+
+ std::vector<MotionFinderInfo> ret;
+ for (const auto& d : std::filesystem::directory_iterator(absPath))
+ {
+ if (!d.is_directory())
+ {
+ ARMARX_WARNING << "Found invalid path: " << d.path();
+ continue;
+ }
+ std::string k = d.path().filename();
+ if (simox::alg::contains(DATASET_FOLDERS_BLACKLIST, k))
+ {
+ continue;
+ }
+
+ auto motionsForDataset = this->findAll(k);
+ simox::alg::append(ret, motionsForDataset);
+ }
+ return ret;
+ }
+
+ bool MotionFinder::checkAll(const std::string &dataset) const
+ {
+ return true;
+ }
+
+ bool MotionFinder::check(const std::string &dataset, const std::string &id) const
+ {
+ return true;
+ }
+
+ std::optional<MotionFinderInfo> MotionFinder::find(const std::string &dataset, const std::string &id) const
+ {
+ const std::filesystem::path absPathToMotion = this->getFullPath(dataset) / id;
+ if (std::filesystem::is_regular_file(absPathToMotion))
+ {
+ ARMARX_WARNING << "The entered path is leading to a file!";
+ return std::nullopt;
+ }
+
+ return std::make_optional(MotionFinderInfo(this->getPackageName(), this->getAbsolutePackagePath(), this->getRelativePath(), dataset, dataset, id));
+ }
+
+ std::vector<MotionFinderInfo> MotionFinder::findAll(const std::string &dataset) const
+ {
+ const std::filesystem::path absPathToDataset = this->getFullPath(dataset);
+ if (std::filesystem::is_regular_file(absPathToDataset))
+ {
+ ARMARX_WARNING << "The entered path is leading to a file!";
+ return {};
+ }
+
+ std::vector<MotionFinderInfo> ret;
+ for (const auto& d : std::filesystem::directory_iterator(absPathToDataset))
+ {
+ if (!d.is_directory())
+ {
+ ARMARX_WARNING << "Found invalid path: " << d.path();
+ continue;
+ }
+ std::string k = d.path().filename();
+ if (simox::alg::contains(MOTION_ID_FOLDERS_BLACKLIST, k))
+ {
+ continue;
+ }
+
+ if(auto op = this->find(dataset, k); op.has_value())
+ {
+ ret.emplace_back(op.value());
+ }
+ }
+ return ret;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.h b/source/RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.h
new file mode 100644
index 000000000..cc0136572
--- /dev/null
+++ b/source/RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.h
@@ -0,0 +1,50 @@
+#include <RobotAPI/libraries/PriorKnowledge/core/FinderBase.h>
+#include <RobotAPI/libraries/PriorKnowledge/core/FinderInfoBase.h>
+
+
+namespace armarx::priorknowledge::motions
+{
+ class MotionFinderInfo : public core::DatasetFinderInfoBase<std::string, std::string>
+ {
+ using Base = core::DatasetFinderInfoBase<std::string, std::string>;
+
+ public:
+ MotionFinderInfo(const std::string& packageName,
+ const std::filesystem::path& absPackageDataDir,
+ const std::filesystem::path& relPackageDataPath,
+ const std::filesystem::path& relDatasetPath,
+ const std::string& dataset,
+ const std::string& id) :
+ Base(packageName, absPackageDataDir, relPackageDataPath, relDatasetPath, dataset, id)
+ {
+
+ }
+
+
+ };
+
+ class MotionFinder : public core::DatasetFinderBase<std::string, std::string, MotionFinderInfo>
+ {
+ using Base = core::DatasetFinderBase<std::string, std::string, MotionFinderInfo>;
+
+ public:
+ MotionFinder(const std::string& packageName, const std::filesystem::path& relDir) :
+ Base(packageName, relDir)
+ {}
+
+ bool checkAll() const;
+ bool check(const std::string &id) const;
+ std::optional<MotionFinderInfo> find(const std::string &id) const;
+ std::vector<MotionFinderInfo> findAll() const;
+
+ bool checkAll(const std::string &dataset) const;
+ bool check(const std::string &dataset, const std::string &id) const;
+ std::optional<MotionFinderInfo> find(const std::string &dataset, const std::string &id) const;
+ std::vector<MotionFinderInfo> findAll(const std::string &dataset) const;
+
+ private:
+ std::vector<std::string> DATASET_FOLDERS_BLACKLIST = {};
+ std::vector<std::string> MOTION_ID_FOLDERS_BLACKLIST = {"script"};
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 7f949da56..61aa0d1f9 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -103,6 +103,7 @@ set(LIB_FILES
server/ComponentPlugin.cpp
server/MemoryRemoteGui.cpp
server/RemoteGuiAronDataVisitor.cpp
+ server/Segment.cpp
server/query_proc/base/BaseQueryProcessorBase.cpp
server/query_proc/base/EntityQueryProcessorBase.cpp
@@ -223,6 +224,7 @@ set(LIB_HEADERS
server/MemoryToIceAdapter.h
server/MemoryRemoteGui.h
server/RemoteGuiAronDataVisitor.h
+ server/Segment.h
server/query_proc.h
server/query_proc/base/BaseQueryProcessorBase.h
diff --git a/source/RobotAPI/libraries/armem/server/Segment.cpp b/source/RobotAPI/libraries/armem/server/Segment.cpp
new file mode 100644
index 000000000..ec25ce784
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/Segment.cpp
@@ -0,0 +1 @@
+#include "Segment.h"
diff --git a/source/RobotAPI/libraries/armem/server/Segment.h b/source/RobotAPI/libraries/armem/server/Segment.h
new file mode 100644
index 000000000..3d6e5871c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/Segment.h
@@ -0,0 +1,99 @@
+#pragma once
+
+// STD/STL
+#include <mutex>
+#include <string>
+
+// ArmarX
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+
+#include "MemoryToIceAdapter.h"
+
+
+namespace armarx::armem::server
+{
+ /**
+ * @brief A base class for memory servers to manage their segments.
+ * A segment can inherit this base class and add segment specific code.
+ * TODO (fabian.peller): add concept to only accept coresegments, providersegments or entitysegments
+ */
+ template <class SegmentType>
+ class SegmentBase : public armarx::Logging
+ {
+ public:
+ SegmentBase() = delete;
+ SegmentBase(armem::server::MemoryToIceAdapter& iceMemory, std::mutex& memoryMutex) :
+ iceMemory(iceMemory),
+ memoryMutex(memoryMutex)
+ {
+ Logging::setTag("armarx::armem::Segment");
+ }
+
+ virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") = 0;
+ virtual void onInit() = 0;
+ virtual void onConnect() = 0;
+
+ protected:
+ private:
+
+ public:
+ protected:
+ // Memory connection
+ armem::server::MemoryToIceAdapter& iceMemory;
+ std::mutex& memoryMutex;
+
+ SegmentType* segment;
+
+ private:
+ };
+
+ namespace wm
+ {
+ template <class BusinessClassObject>
+ class CoreSegmentBase : public SegmentBase<armarx::armem::wm::CoreSegment>
+ {
+ using Base = SegmentBase<armarx::armem::wm::CoreSegment>;
+
+ public:
+ CoreSegmentBase(armem::server::MemoryToIceAdapter& iceMemory, std::mutex& memoryMutex):
+ Base(iceMemory, memoryMutex)
+ {
+ Logging::setTag("armarx::armem::wm::Segment");
+ }
+
+ virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override
+ {
+ ARMARX_CHECK_NOT_NULL(defs);
+
+ defs->optional(p.coreSegmentName, prefix + "CoreSegmentName", "Name of the '" + p.coreSegmentName + "' core segment.");
+ defs->optional(p.maxHistorySize, prefix + "MaxHistorySize", "Maximal size of '" + p.coreSegmentName + "' history (-1 for infinite).");
+ }
+
+ virtual void onInit() override
+ {
+ ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
+
+ segment = &iceMemory.workingMemory->addCoreSegment(p.coreSegmentName, BusinessClassObject::toAronType());
+ segment->setMaxHistorySize(p.maxHistorySize);
+ }
+
+ virtual void onConnect() override
+ {
+
+ }
+
+ protected:
+ private:
+
+ public:
+ protected:
+ struct Properties
+ {
+ std::string coreSegmentName = "";
+ int maxHistorySize = -1;
+ };
+ Properties p;
+ };
+ }
+}
diff --git a/source/RobotAPI/libraries/armem_motions/CMakeLists.txt b/source/RobotAPI/libraries/armem_motions/CMakeLists.txt
new file mode 100644
index 000000000..0dd3aa640
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_motions/CMakeLists.txt
@@ -0,0 +1,26 @@
+set(LIB_NAME armem_motions)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+ LIBS
+ ArmarXCoreInterfaces
+ ArmarXCore
+ ArmarXCoreObservers
+
+ RobotAPI::Core
+ RobotAPI::armem
+ RobotAPI::PriorKnowledge::Motions
+ SOURCES
+ ./server/MotionDatabase/MotionConverter.cpp
+ ./server/MotionDatabase/Segment.cpp
+ HEADERS
+ ./server/MotionDatabase/MotionConverter.h
+ ./server/MotionDatabase/Segment.h
+ ARON_FILES
+ #./aron/MMM.xml
+)
+
+
+add_library(RobotAPI::armem_motions ALIAS armem_motions)
diff --git a/source/RobotAPI/libraries/armem_motions/aron/MMM.xml b/source/RobotAPI/libraries/armem_motions/aron/MMM.xml
new file mode 100644
index 000000000..06339c07c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_motions/aron/MMM.xml
@@ -0,0 +1,44 @@
+<!--Some fancy comment -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ </CodeIncludes>
+
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true"/>
+ </AronIncludes>
+
+ <GenerateTypes>
+ <Object name='armarx::armem::mmm::MMM'>
+
+ <ObjectChild key='name'>
+ <String />
+ </ObjectChild>
+
+ <ObjectChild key='MoCapMarkerTrajectories'>
+ <Dict>
+ <List>
+ <Pair>
+
+ </Pair>
+ </List>
+ </Dict>
+ </ObjectChild>
+
+ <ObjectChild key='JointTrajectories'>
+ <Dict>
+ <List>
+ <Pair>
+ <Time /> <!-- Timestamp -->
+ <Float /> <!-- JointAngle -->
+ </Pair>
+ </List>
+ </Dict>
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MotionConverter.cpp b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MotionConverter.cpp
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MotionConverter.h b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/MotionConverter.h
new file mode 100644
index 000000000..e69de29bb
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/Segment.cpp b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/Segment.cpp
new file mode 100644
index 000000000..a3276cb6f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/Segment.cpp
@@ -0,0 +1,55 @@
+// BaseClass
+#include "Segment.h"
+
+// ArmarX
+#include <RobotAPI/libraries/PriorKnowledge/motions/MotionFinder.h>
+
+namespace armarx::armem::server::motions::mdb
+{
+ Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter, std::mutex& memoryMutex) :
+ Base(memoryToIceAdapter, memoryMutex)
+ {
+ }
+
+ void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ {
+ Base::defineProperties(defs, prefix);
+
+ defs->optional(p.motionsPackage, prefix + "MotionsPackage", "Name of the prior knowledge package to load from.");
+ defs->optional(p.loadFromMotionsPackage, prefix + "LoadFromMotionsPackage", "If true, load the motions from the motions package on startup.");
+ }
+
+ void Segment::onInit()
+ {
+ Base::onInit();
+
+ if (p.loadFromMotionsPackage)
+ {
+ loadByMotionFinder(p.motionsPackage);
+ }
+ }
+
+ void Segment::onConnect()
+ {
+
+ }
+
+ int Segment::loadByMotionFinder(const std::string& packageName)
+ {
+ priorknowledge::motions::MotionFinder motionFinder(packageName, "motions/");
+ int loadedMotions = 0;
+
+ {
+ // Load MDB Motions
+ auto allMotions = motionFinder.findAll("mdb");
+ for (const auto& motionFinderInfo : allMotions)
+ {
+ std::cout << "Found a motionfile at: " << motionFinderInfo.getFullPath() << std::endl;
+ }
+
+ loadedMotions += allMotions.size();
+ }
+
+ return loadedMotions;
+ }
+}
diff --git a/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/Segment.h b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/Segment.h
new file mode 100644
index 000000000..fbb11bb43
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_motions/server/MotionDatabase/Segment.h
@@ -0,0 +1,38 @@
+#pragma once
+
+// STD/STL
+#include <mutex>
+#include <string>
+
+// BaseClass
+#include <RobotAPI/libraries/armem/server/Segment.h>
+
+// ArmarX
+#include <RobotAPI/libraries/aron/core/test/aron/NaturalIKTest.aron.generated.h> // <-- dummy for now. replace with motion type
+
+
+namespace armarx::armem::server::motions::mdb
+{
+ class Segment : public armem::server::wm::CoreSegmentBase<armarx::NaturalIKResult>
+ {
+ using Base = armem::server::wm::CoreSegmentBase<armarx::NaturalIKResult>;
+
+ public:
+ Segment(armem::server::MemoryToIceAdapter& iceMemory, std::mutex& memoryMutex);
+
+ virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override;
+ virtual void onInit() override;
+ virtual void onConnect() override;
+
+ private:
+ int loadByMotionFinder(const std::string&);
+
+ private:
+ struct Properties
+ {
+ std::string motionsPackage = "PriorKnowledgeData";
+ bool loadFromMotionsPackage = true;
+ };
+ Properties p;
+ };
+}
diff --git a/source/RobotAPI/libraries/aron/common/CMakeLists.txt b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
index ec6c74d9e..491e3dec3 100644
--- a/source/RobotAPI/libraries/aron/common/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
@@ -25,19 +25,20 @@ armarx_add_library(
aron_conversions/simox.cpp
aron_conversions/stl.cpp
aron_conversions/eigen.cpp
-)
-
-armarx_enable_aron_file_generation_for_target(
- TARGET_NAME
- "${LIB_NAME}"
ARON_FILES
+ #aron/SimplePosition.xml
+ #aron/SimplePose.xml
+ #aron/SimpleTrajectory.xml
aron/AxisAlignedBoundingBox.xml
aron/OrientedBox.xml
aron/PackagePath.xml
-
)
+add_library(aron::common ALIAS aroncommon)
+add_library(Aron::Common ALIAS aroncommon)
+add_library(${PROJECT_NAME}::Aron::Common ALIAS aroncommon)
+add_library(${PROJECT_NAME}::aron::common ALIAS aroncommon)
# add unit tests
add_subdirectory(test)
diff --git a/source/RobotAPI/libraries/aron/common/aron/SimplePose.xml b/source/RobotAPI/libraries/aron/common/aron/SimplePose.xml
new file mode 100644
index 000000000..add970d13
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron/SimplePose.xml
@@ -0,0 +1,27 @@
+<!--Some fancy comment
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ </CodeIncludes>
+
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true"/>
+ </AronIncludes>
+
+ <GenerateTypes>
+ <Object name='armarx::armem::mmm::KeyPoint'>
+
+ </Object>
+ <Object name='armarx::armem::mmm::SingleKeyPointTrajectory'>
+
+ <ObjectChild key='name'>
+ < />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+
+</AronTypeDefinition>
+-->
diff --git a/source/RobotAPI/libraries/aron/common/aron/SimplePosition.xml b/source/RobotAPI/libraries/aron/common/aron/SimplePosition.xml
new file mode 100644
index 000000000..42faeef90
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron/SimplePosition.xml
@@ -0,0 +1,26 @@
+<!--Some fancy comment
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ </CodeIncludes>
+
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true"/>
+ </AronIncludes>
+
+ <GenerateTypes>
+ <Object name='armarx::armem::mmm::KeyPoint'>
+
+ </Object>
+ <Object name='armarx::armem::mmm::SingleKeyPointTrajectory'>
+
+ <ObjectChild key='name'>
+ < />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+
+</AronTypeDefinition>-->
diff --git a/source/RobotAPI/libraries/aron/common/aron/SimpleTrajectory.xml b/source/RobotAPI/libraries/aron/common/aron/SimpleTrajectory.xml
new file mode 100644
index 000000000..42faeef90
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron/SimpleTrajectory.xml
@@ -0,0 +1,26 @@
+<!--Some fancy comment
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ </CodeIncludes>
+
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true"/>
+ </AronIncludes>
+
+ <GenerateTypes>
+ <Object name='armarx::armem::mmm::KeyPoint'>
+
+ </Object>
+ <Object name='armarx::armem::mmm::SingleKeyPointTrajectory'>
+
+ <ObjectChild key='name'>
+ < />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+
+</AronTypeDefinition>-->
diff --git a/source/RobotAPI/libraries/aron/converter/CMakeLists.txt b/source/RobotAPI/libraries/aron/converter/CMakeLists.txt
index a99bfccfd..5f8db702e 100644
--- a/source/RobotAPI/libraries/aron/converter/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/converter/CMakeLists.txt
@@ -16,4 +16,7 @@ target_link_libraries(AronConverter
RobotAPI::aron::converter::opencv
)
-add_library(RobotAPI::aron::converter ALIAS AronConverter)
+add_library(aron::converter ALIAS AronConverter)
+add_library(Aron::Converter ALIAS AronConverter)
+add_library(${PROJECT_NAME}::Aron::Converter ALIAS AronConverter)
+add_library(${PROJECT_NAME}::aron::converter ALIAS AronConverter)
diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index af2caf057..62548c297 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
@@ -281,6 +281,8 @@ armarx_add_library(
"${LIBS}"
)
+add_library(Aron ALIAS "${LIB_NAME}")
+add_library(RobotAPI::Aron ALIAS "${LIB_NAME}")
add_library(RobotAPI::aron ALIAS "${LIB_NAME}")
# add unit tests
--
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