diff --git a/data/RobotAPI/VariantInfo-RobotAPI.xml b/data/RobotAPI/VariantInfo-RobotAPI.xml
index e09c9aa52c8ab75de5ca845a812fc6fd38aa4d4e..218aed8cfaedf754b40a52f68acd33da0b7ae69c 100644
--- a/data/RobotAPI/VariantInfo-RobotAPI.xml
+++ b/data/RobotAPI/VariantInfo-RobotAPI.xml
@@ -20,8 +20,8 @@
<Class typeName="NJointCartesianWaypointControllerConfig" include="RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.h" />
<Class typeName="FramedPoseBase" include="RobotAPI/interface/core/FramedPoseBase.h" />
- <Class typeName="Vector3Base" include="RobotAPI/libraries/core/Pose.h" />
- <Class typeName="QuaternionBase" include="RobotAPI/libraries/core/Pose.h" />
+ <Class typeName="Vector3Base" include="RobotAPI/interface/core/PoseBase.h" />
+ <Class typeName="QuaternionBase" include="RobotAPI/interface/core/PoseBase.h" />
<Class typeName="armarx::viz::data::Element" include="RobotAPI/interface/ArViz/Elements.h" />
<Class typeName="armarx::viz::data::LayerUpdate" include="RobotAPI/interface/ArViz/Component.h" />
<Proxy include="RobotAPI/interface/units/KinematicUnitInterface.h"
@@ -162,22 +162,6 @@
getterName="getRobotUnit"
propertyName="RobotUnitName"
propertyIsOptional="false" />
- <Proxy include="ArmarXCore/interface/observers/ObserverInterface.h"
- humanName="Robot Unit Observer"
- typeName="ObserverInterfacePrx"
- memberName="robotUnitObserver"
- getterName="getRobotUnitObserver"
- propertyName="RobotUnitObserverName"
- propertyIsOptional="true"
- propertyDefaultValue="RobotUnitObserver" />
- <Proxy include="ArmarXCore/interface/observers/ObserverInterface.h"
- humanName="Speech Observer"
- typeName="ObserverInterfacePrx"
- memberName="speechObserver"
- getterName="getSpeechObserver"
- propertyName="SpeechObserverName"
- propertyIsOptional="true"
- propertyDefaultValue="SpeechObserver" />
<Proxy include="RobotAPI/interface/units/CyberGloveObserverInterface.h"
humanName="CyberGlove Observer"
typeName="CyberGloveObserverInterfacePrx"
diff --git a/scenarios/ArMemCore/config/ArVizStorage.cfg b/scenarios/ArMemCore/config/ArVizStorage.cfg
index 5e8b630736a25dcd37ccfe9547d599b49a8dd6c6..302ac28c37dd28de3e68fb4fe4c2174faa4ec3bf 100644
--- a/scenarios/ArMemCore/config/ArVizStorage.cfg
+++ b/scenarios/ArMemCore/config/ArVizStorage.cfg
@@ -27,7 +27,7 @@
# ArmarX.ArVizStorage.EnableProfiling = false
-# ArmarX.ArVizStorage.HistoryPath: Destination path where the history are serialized to
+# ArmarX.ArVizStorage.HistoryPath: Destination path where the history is serialized to
# Attributes:
# - Default: RobotAPI/ArVizStorage
# - Case sensitivity: yes
@@ -68,7 +68,7 @@
# ArmarX.ArVizStorage.TopicName = ArVizTopic
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemCore/config/DebugObserver.cfg b/scenarios/ArMemCore/config/DebugObserver.cfg
index 459d0d1a5bcd9ea89ef01e161eb903fc8a4bf1cb..8dc7ead26b3bd2f7678b3b3e7a1b00c01213225d 100644
--- a/scenarios/ArMemCore/config/DebugObserver.cfg
+++ b/scenarios/ArMemCore/config/DebugObserver.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemCore/config/MemoryNameSystem.cfg b/scenarios/ArMemCore/config/MemoryNameSystem.cfg
index dfe9b389392a186f5baef2403145e31d49646f58..b8bc70a66ca7f32a628886ad1bf13e373f9750d3 100644
--- a/scenarios/ArMemCore/config/MemoryNameSystem.cfg
+++ b/scenarios/ArMemCore/config/MemoryNameSystem.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemCore/config/RemoteGuiProviderApp.cfg b/scenarios/ArMemCore/config/RemoteGuiProviderApp.cfg
index 4683563a9c97e6bb11805b8d903dbe2f705a3fd2..4b6abea40d72afd7d313ee47a9b191f3b26de30d 100644
--- a/scenarios/ArMemCore/config/RemoteGuiProviderApp.cfg
+++ b/scenarios/ArMemCore/config/RemoteGuiProviderApp.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemExample/config/DebugObserver.cfg b/scenarios/ArMemExample/config/DebugObserver.cfg
index 459d0d1a5bcd9ea89ef01e161eb903fc8a4bf1cb..8dc7ead26b3bd2f7678b3b3e7a1b00c01213225d 100644
--- a/scenarios/ArMemExample/config/DebugObserver.cfg
+++ b/scenarios/ArMemExample/config/DebugObserver.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemExample/config/ExampleMemory.cfg b/scenarios/ArMemExample/config/ExampleMemory.cfg
index aac8c2e88be85372ac0296f79579f8d2c32665e4..e2e7bb719d4629ed88b2127cf7c97159bdb79341 100644
--- a/scenarios/ArMemExample/config/ExampleMemory.cfg
+++ b/scenarios/ArMemExample/config/ExampleMemory.cfg
@@ -26,7 +26,7 @@
ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
@@ -143,6 +143,23 @@ ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
# ArmarX.ExampleMemory.mem.MemoryName = Example
+# ArmarX.ExampleMemory.mem.ltm..buffer.storeFreq: Frequency to store the buffer to the LTM in Hz.
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleMemory.mem.ltm..buffer.storeFreq = 10
+
+
+# ArmarX.ExampleMemory.mem.ltm.depthImageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.depthImageExtractor.Enabled = true
+
+
# ArmarX.ExampleMemory.mem.ltm.enabled:
# Attributes:
# - Default: false
@@ -152,12 +169,98 @@ ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
# ArmarX.ExampleMemory.mem.ltm.enabled = false
-# ArmarX.ExampleMemory.mem.ltm.storagepath: The path to the memory storage.
+# ArmarX.ExampleMemory.mem.ltm.exrConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.exrConverter.Enabled = true
+
+
+# ArmarX.ExampleMemory.mem.ltm.imageExtractor.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.imageExtractor.Enabled = true
+
+
+# ArmarX.ExampleMemory.mem.ltm.memFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.memFreqFilter.Enabled = false
+
+
+# ArmarX.ExampleMemory.mem.ltm.memFreqFilter.WaitingTime: Waiting time in MS after each LTM update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleMemory.mem.ltm.memFreqFilter.WaitingTime = -1
+
+
+# ArmarX.ExampleMemory.mem.ltm.pngConverter.Enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.pngConverter.Enabled = true
+
+
+# ArmarX.ExampleMemory.mem.ltm.sizeToCompressDataInMegaBytes: The size in MB to compress away the current export. Exports are numbered (lower number means newer).
# Attributes:
-# - Default: /tmp/MemoryExport/Example
+# - Default: 1024
# - Case sensitivity: yes
# - Required: no
-# ArmarX.ExampleMemory.mem.ltm.storagepath = /tmp/MemoryExport/Example
+# ArmarX.ExampleMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
+
+
+# ArmarX.ExampleMemory.mem.ltm.snapEqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.snapEqFilter.Enabled = false
+
+
+# ArmarX.ExampleMemory.mem.ltm.snapEqFilter.MaxWaitingTime: Max Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
+
+
+# ArmarX.ExampleMemory.mem.ltm.snapFreqFilter.Enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.mem.ltm.snapFreqFilter.Enabled = false
+
+
+# ArmarX.ExampleMemory.mem.ltm.snapFreqFilter.WaitingTime: Waiting time in MS after each Entity update.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
+
+
+# ArmarX.ExampleMemory.mem.ltm.storagepath: The path to the memory storage (the memory will be stored in a seperate subfolder).
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ExampleMemory.mem.ltm.storagepath = Default value not mapped.
# ArmarX.ExampleMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
@@ -178,6 +281,15 @@ ArmarX.ArMemExampleMemory.tpc.pub.MemoryListener = MemoryUpdates
# ArmarX.ExampleMemory.mns.MemoryNameSystemName = MemoryNameSystem
+# ArmarX.ExampleMemory.p.enableRemoteGui: If true, the memory cotent is shown in the remote gui.Can be very slow for high-frequency updates!
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExampleMemory.p.enableRemoteGui = false
+
+
# ArmarX.ExampleMemory.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
# Attributes:
# - Default: DebugObserver
diff --git a/scenarios/ArMemExample/config/ExampleMemoryClient.cfg b/scenarios/ArMemExample/config/ExampleMemoryClient.cfg
index df84ec74b9f589842815ba742960cbc360da01e4..9c012266f8691c27cfa40be3ad793c081877178e 100644
--- a/scenarios/ArMemExample/config/ExampleMemoryClient.cfg
+++ b/scenarios/ArMemExample/config/ExampleMemoryClient.cfg
@@ -26,7 +26,7 @@
ArmarX.ArMemExampleClient.tpc.sub.MemoryListener = MemoryUpdates
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemExample/config/MemoryNameSystem.cfg b/scenarios/ArMemExample/config/MemoryNameSystem.cfg
index dfe9b389392a186f5baef2403145e31d49646f58..b8bc70a66ca7f32a628886ad1bf13e373f9750d3 100644
--- a/scenarios/ArMemExample/config/MemoryNameSystem.cfg
+++ b/scenarios/ArMemExample/config/MemoryNameSystem.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/scenarios/ArMemExample/config/RemoteGuiProviderApp.cfg b/scenarios/ArMemExample/config/RemoteGuiProviderApp.cfg
index 4683563a9c97e6bb11805b8d903dbe2f705a3fd2..4b6abea40d72afd7d313ee47a9b191f3b26de30d 100644
--- a/scenarios/ArMemExample/config/RemoteGuiProviderApp.cfg
+++ b/scenarios/ArMemExample/config/RemoteGuiProviderApp.cfg
@@ -18,7 +18,7 @@
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
# Attributes:
# - Default: mongo/.cache
# - Case sensitivity: yes
diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
index 22ff30654400ffb349b013b3d58e69b007f8ed18..5227bee38e728999d4a0f7fed6809913144573b6 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.cpp
@@ -43,6 +43,7 @@ namespace armarx
ARMARX_INFO << "oninit GamepadControlUnit end";
+
}
@@ -67,12 +68,42 @@ namespace armarx
armarx::PropertyDefinitionsPtr GamepadControlUnit::createPropertyDefinitions()
{
- return armarx::PropertyDefinitionsPtr(new GamepadControlUnitPropertyDefinitions(
+ auto defs = armarx::PropertyDefinitionsPtr(new GamepadControlUnitPropertyDefinitions(
getConfigIdentifier()));
+ defs->topic(robotHealthTopic);
+ defs->optional(enableHeartBeat, "EnableHeartBeat", "Flag to enable send a heart beat to the robot healh topic");
+ return defs;
}
void GamepadControlUnit::reportGamepadState(const std::string& device, const std::string& name, const GamepadData& data, const TimestampBasePtr& timestamp, const Ice::Current& c)
{
+
+
+ // struct GamepadData {
+ // float leftStickX;
+ // float leftStickY;
+ // float rightStickX;
+ // float rightStickY;
+ // float dPadX;
+ // float dPadY;
+ // float leftTrigger;
+ // float rightTrigger;
+ //
+ // bool leftButton;
+ // bool rightButton;
+ // bool backButton;
+ // bool startButton;
+ // bool xButton;
+ // bool yButton;
+ // bool aButton;
+ // bool bButton;
+ // bool theMiddleButton;
+ // bool leftStickButton;
+ // bool rightStickButton;
+ //
+ // };
+
+
if (data.leftTrigger > 0)
{
emergencyStop->setEmergencyStopState(EmergencyStopState::eEmergencyStopActive);
@@ -91,6 +122,66 @@ namespace armarx
{
platformUnitPrx->move(0, 0, 0);
}
+
+
+ if (data.leftButton)
+ {
+
+ if(leftHandTime <= 0.0)
+ {
+ leftHandTime = IceUtil::Time::now().toMicroSeconds();
+ }
+ else if ((IceUtil::Time::now().toMicroSeconds() - leftHandTime) > 1000* 1000)
+ {
+
+ HandUnitInterfacePrx handUnit = getProxy<HandUnitInterfacePrx>("LeftHandUnit");
+ if (handUnit)
+ {
+ std::string shapeName = (leftHandOpen) ? "Close" : "Open";
+ handUnit->setShape(shapeName);
+ leftHandOpen = !leftHandOpen;
+ leftHandTime = 0.0;
+ }
+ }
+ }
+ else
+ {
+ leftHandTime = 0.0;
+ }
+
+ if(data.rightButton)
+ {
+
+ if(rightHandTime <= 0.0)
+ {
+ rightHandTime = IceUtil::Time::now().toMicroSeconds();
+ }
+ else if ((IceUtil::Time::now().toMicroSeconds() - rightHandTime) > 1000* 1000)
+ {
+ HandUnitInterfacePrx handUnit = getProxy<HandUnitInterfacePrx>("RightHandUnit");
+ if (handUnit)
+ {
+ std::string shapeName = (rightHandOpen) ? "Close" : "Open";
+ handUnit->setShape(shapeName);
+ rightHandOpen = !rightHandOpen;
+ rightHandTime = 0.0;
+ }
+ }
+ }
+ else
+ {
+ rightHandTime = 0.0;
+ }
+
+
+ if(enableHeartBeat)
+ {
+ RobotHealthHeartbeatArgs args;
+ args.maximumCycleTimeErrorMS = 1000;
+ robotHealthTopic->heartbeat(getDefaultName(), args);
+
+ }
+
//ARMARX_INFO << "sending targets" << data.leftStickX* scaleX << " " << data.leftStickY* scaleY << " " << data.rightStickX* scaleRotation;
}
}
diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
index abdf77a77d42aa73a48bce6c93a15416bb8c64bc..9b0bacd5092012472d3f975e1c6d40357ba6594c 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
@@ -28,6 +28,10 @@
#include <RobotAPI/interface/units/GamepadUnit.h>
+#include <RobotAPI/interface/units/HandUnitInterface.h>
+
+#include <RobotAPI/interface/components/RobotHealthInterface.h>
+
namespace armarx
{
/**
@@ -103,11 +107,22 @@ namespace armarx
private:
PlatformUnitInterfacePrx platformUnitPrx;
+
+
+
+ bool enableHeartBeat = false;
+ RobotHealthInterfacePrx robotHealthTopic;
float scaleX;
float scaleY;
float scaleRotation;
EmergencyStopMasterInterfacePrx emergencyStop;
+ bool leftHandOpen = true;
+ bool rightHandOpen = true;
+
+ long leftHandTime = 0;
+ long rightHandTime = 0;
+
public:
void reportGamepadState(const std::string& device, const std::string& name, const GamepadData& data,
const TimestampBasePtr& timestamp, const Ice::Current& c) override;
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index 7a7d65f0740024f7ef1d7b43c667c2971962429b..dc7309cf18c368d85994cc06a2944b856d9832f4 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -51,6 +51,9 @@ namespace armarx
"If enabled, core segments are added when required by a new provider segment."
"This will usually be off for most memory servers.");
+ defs->optional(p.enableRemoteGui, "p.enableRemoteGui",
+ "If true, the memory cotent is shown in the remote gui."
+ "Can be very slow for high-frequency updates!");
return defs;
}
@@ -60,6 +63,7 @@ namespace armarx
return "ExampleMemory";
}
+
void ExampleMemory::onInitComponent()
{
// Usually, the memory server will specify a number of core segments with a specific aron type.
@@ -80,8 +84,11 @@ namespace armarx
void ExampleMemory::onConnectComponent()
{
- createRemoteGuiTab();
- RemoteGui_startRunningTask();
+ if (p.enableRemoteGui)
+ {
+ createRemoteGuiTab();
+ RemoteGui_startRunningTask();
+ }
}
void ExampleMemory::onDisconnectComponent()
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
index 66a500eeb43043ceb660d9ad9c720d2dc946fb66..62ea177f496296082cac90aecc6e9e6f35d450a8 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
@@ -96,6 +96,8 @@ namespace armarx
};
CoreSegments core;
+
+ bool enableRemoteGui = false;
};
Properties p;
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 36442cf0bdaa4238a8a832fe39f6c244569fe830..be1193d665db683b844d28d60662e8e3088eec70 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -72,7 +72,6 @@ set(SLICE_FILES
units/RobotUnit/NJointCartesianWaypointController.ice
units/RobotUnit/NJointCartesianNaturalPositionController.ice
units/RobotUnit/RobotUnitInterface.ice
- units/RobotUnit/GazeController.ice
units/RobotUnit/NJointBimanualForceController.ice
units/RobotUnit/NJointBimanualObjLevelController.ice
diff --git a/source/RobotAPI/interface/units/RobotUnit/GazeController.ice b/source/RobotAPI/interface/units/RobotUnit/GazeController.ice
deleted file mode 100644
index 78f98701af3f230ce2cbbb6c1d97082fa342ec6e..0000000000000000000000000000000000000000
--- a/source/RobotAPI/interface/units/RobotUnit/GazeController.ice
+++ /dev/null
@@ -1,63 +0,0 @@
-
-/*
-* 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 ArmarX::RobotAPI
-* @author Raphael Grimm
-* @copyright 2019 Humanoids Group, H2T, KIT
-* @license http://www.gnu.org/licenses/gpl-2.0.txt
-* GNU General Public License
-*/
-
-#pragma once
-
-#include <RobotAPI/interface/core/FramedPoseBase.ice>
-#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
-
-module armarx { module control { module gaze_controller {
-
- class GazeControllerConfig extends NJointControllerConfig
- {
- string cameraFrameName = "DepthCamera";
- string yawNodeName = "Neck_1_Yaw";
- string pitchNodeName = "Neck_2_Pitch";
- string cameraNodeName = "DepthCamera";
- string torsoNodeName = "TorsoJoint";
-
- float Kp = 1.9f;
- float Ki = 0.0f;
- float Kd = 0.0f;
- double maxControlValue = 1.0;
- double maxDerivation = 0.5;
-
- float yawAngleTolerance = 0.005;
- float pitchAngleTolerance = 0.005;
- bool abortIfUnreachable = false;
- };
-
- interface GazeControllerInterface extends
- NJointControllerInterface
- {
- void submitTarget(FramedPositionBase target, long requestTimestamp);
- void removeTarget();
- void removeTargetAfter(long durationMilliSeconds);
- };
-
- interface GazeControllerListener
- {
- void reportGazeTarget(long requestTimestamp, long reachedTimestamp, long releasedTimestamp, long abortedTimestamp, FramedPositionBase target);
- };
-
-};};};
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index 0d89cd82cce205a1032dfe9d895bb4845f7bdc53..36b2e7036df83d0b99731d6773eb4465e7b75997 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -224,7 +224,7 @@ namespace armarx::armem::gui
for (auto& [name, reader] : memoryReaders)
{
data::StoreInput input;
- input.query = memoryGroup->queryWidget()->queryInput().toIce();
+ input.query = memoryGroup->queryInput().toIce();
reader.readAndStore(input);
}
@@ -294,7 +294,7 @@ namespace armarx::armem::gui
{
std::string status;
std::map<std::string, wm::Memory> data =
- diskControl->loadFromDisk(directory, memoryGroup->queryWidget()->queryInput(), &status);
+ diskControl->loadFromDisk(directory, memoryGroup->queryInput(), &status);
memoryWriters = mns.getAllWriters(true);
for (auto& [name, memory] : data)
@@ -361,7 +361,7 @@ namespace armarx::armem::gui
std::map<std::string, std::future<armem::query::data::Result>>& queries,
const std::map<std::string, armem::client::Reader>& readers)
{
- armem::client::QueryInput input = memoryGroup->queryWidget()->queryInput();
+ armem::client::QueryInput input = memoryGroup->queryInput();
int recursionDepth = memoryGroup->queryWidget()->queryLinkRecursionDepth();
// Can't use a structured binding here because you can't capture those in a lambda
diff --git a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
index 27af95f6223db049ff9f26fd41632ac2d7850173..8796557cdcfa2d8f337166cb6181bab6f92111c5 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
+++ b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.cpp
@@ -39,7 +39,13 @@ namespace armarx::armem::gui::memory
_queryWidget = new armem::gui::QueryWidget();
_queryWidget->setSizePolicy(QSizePolicy::Policy::Expanding, QSizePolicy::Policy::Maximum);
- _memoryTabWidget->addTab(_queryWidget, QString("Query"));
+ _memoryTabWidget->addTab(_queryWidget, QString("Query Settings"));
+ }
+ {
+ _snapshotSelectorWidget = new armem::gui::SnapshotSelectorWidget();
+ _snapshotSelectorWidget->setSizePolicy(QSizePolicy::Policy::Expanding, QSizePolicy::Policy::Maximum);
+
+ _memoryTabWidget->addTab(_snapshotSelectorWidget, QString("Snapshot Selection"));
}
{
_commitWidget = new armem::gui::CommitWidget();
@@ -67,6 +73,11 @@ namespace armarx::armem::gui::memory
return _memoryTabGroup;
}
+ SnapshotSelectorWidget* GroupBox::snapshotSelectorWidget() const
+ {
+ return _snapshotSelectorWidget;
+ }
+
CommitWidget* GroupBox::commitWidget() const
{
return _commitWidget;
@@ -77,4 +88,16 @@ namespace armarx::armem::gui::memory
return _tree;
}
-}
+ armem::client::QueryInput GroupBox::queryInput() const
+ {
+ armem::client::query::Builder queryBuilder(_queryWidget->dataMode());
+ queryBuilder.queryTargets(_snapshotSelectorWidget->queryTargets())
+ .coreSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
+ .providerSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
+ .entities().all().queryTargets(_snapshotSelectorWidget->queryTargets())
+ .snapshots(_snapshotSelectorWidget->selector());
+
+ return queryBuilder.buildQueryInput();
+ }
+
+} // namespace armarx::armem::gui::memory
diff --git a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.h b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.h
index 562432d11bb4db79873dd97d200950127bf2e1db..10cf3d5972cc607cfb89fb9b2b0e1962027c9a75 100644
--- a/source/RobotAPI/libraries/armem_gui/memory/GroupBox.h
+++ b/source/RobotAPI/libraries/armem_gui/memory/GroupBox.h
@@ -26,8 +26,11 @@ namespace armarx::armem::gui::memory
TreeWidget* tree() const;
QGroupBox* queryGroup() const;
QueryWidget* queryWidget() const;
+ SnapshotSelectorWidget* snapshotSelectorWidget() const;
CommitWidget* commitWidget() const;
+ armem::client::QueryInput queryInput() const;
+
public slots:
@@ -45,6 +48,7 @@ namespace armarx::armem::gui::memory
QTabWidget* _memoryTabWidget;
QGroupBox* _memoryTabGroup;
QueryWidget* _queryWidget;
+ SnapshotSelectorWidget* _snapshotSelectorWidget;
CommitWidget* _commitWidget;
};
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
index 82a8cca0b365cbdb367d28cff620864c72c570f6..ad07dc5b0de991b1e3296a94c66418caa20bf011 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.cpp
@@ -1,5 +1,7 @@
#include "QueryWidget.h"
+#include <limits>
+
#include <QCheckBox>
#include <QGroupBox>
#include <QHBoxLayout>
@@ -18,36 +20,28 @@ namespace armarx::armem::gui
QueryWidget::QueryWidget()
{
- QHBoxLayout* hlayout1 = new QHBoxLayout();
- QHBoxLayout* hlayout2 = new QHBoxLayout();
- QVBoxLayout* vlayout = new QVBoxLayout();
+ auto* vlayout = new QVBoxLayout();
_dataCheckBox = new QCheckBox("Get Data");
_dataCheckBox->setChecked(true);
+ vlayout->addWidget(_dataCheckBox);
+
+ auto* recDepthHLayout = new QHBoxLayout();
+ vlayout->addLayout(recDepthHLayout);
- _recursionDepthSpinner = new QSpinBox();
- _recursionDepthSpinner->setMinimum(-1);
+ _recursionDepthSpinner = new QSpinBox(); // NOLINT
+ _recursionDepthSpinner->setRange(-1, std::numeric_limits<int>::max());
_recursionDepthSpinner->setValue(0);
_recursionDepthSpinner->setEnabled(_dataCheckBox->isChecked());
+ _recursionDepthSpinner->setSpecialValueText(QString("Unlimited"));
+ recDepthHLayout->addWidget(_recursionDepthSpinner);
_recursionDepthLabel = new QLabel("Link resolution depth");
+ recDepthHLayout->addWidget(_recursionDepthLabel);
+ recDepthHLayout->addStretch();
_storeInLTMButton = new QPushButton("Store query result in LTM");
-
- _snapshotSelectorWidget = new SnapshotSelectorWidget();
-
- hlayout1->addWidget(_dataCheckBox);
- hlayout1->addWidget(_recursionDepthSpinner);
- hlayout1->addWidget(_recursionDepthLabel);
- hlayout1->addWidget(_storeInLTMButton);
-
- hlayout2->addWidget(_snapshotSelectorWidget);
-
- const int margin = 0;
- vlayout->setContentsMargins(margin, margin, margin, margin);
-
- vlayout->addLayout(hlayout1);
- vlayout->addLayout(hlayout2);
+ vlayout->addWidget(_storeInLTMButton);
// Public connections.
connect(_storeInLTMButton, &QPushButton::pressed, this, &This::storeInLTM);
@@ -72,18 +66,6 @@ namespace armarx::armem::gui
return _recursionDepthSpinner->value();
}
- armem::client::QueryInput QueryWidget::queryInput()
- {
- armem::client::query::Builder qb(dataMode());
- qb.queryTargets(_snapshotSelectorWidget->queryTargets())
- .coreSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
- .providerSegments().all().queryTargets(_snapshotSelectorWidget->queryTargets())
- .entities().all().queryTargets(_snapshotSelectorWidget->queryTargets())
- .snapshots(_snapshotSelectorWidget->selector());
-
- return qb.buildQueryInput();
- }
-
void
QueryWidget::setRecursionDepthSpinnerEnabled(int state)
{
diff --git a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
index 3b950acf05899e1e187273d1a2d7da57def4de1e..e7a98a8026786a7c8e0c2acbfd8dc834cb72f16a 100644
--- a/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
+++ b/source/RobotAPI/libraries/armem_gui/query_widgets/QueryWidget.h
@@ -25,8 +25,6 @@ namespace armarx::armem::gui
int queryLinkRecursionDepth() const;
- armem::client::QueryInput queryInput();
-
public slots:
@@ -51,8 +49,6 @@ namespace armarx::armem::gui
QSpinBox* _recursionDepthSpinner;
QPushButton* _storeInLTMButton;
- SnapshotSelectorWidget* _snapshotSelectorWidget;
-
};
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
index 7a4305c6fe26ea6bf54aab17e9e87843688aa0a1..beebabd2977e8f7e46e976892ee4da3dc18f2bad 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp
@@ -11,6 +11,8 @@
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/time/Clock.h>
+#include "RobotAPI/libraries/armem_robot_state/common/localization/types.h"
+#include "RobotAPI/libraries/core/FramedPose.h"
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/error.h>
@@ -203,6 +205,31 @@ namespace armarx::armem::robot_state
.timestamp = timestamp, .globalPose = *globalPose, .jointMap = *jointMap};
}
+ std::optional<robot::RobotState::Pose>
+ RobotReader::queryOdometryPose(const robot::RobotDescription& description,
+ const armem::Time& timestamp) const
+ {
+
+ common::robot_state::localization::TransformQuery query
+ {
+ .header = {
+ .parentFrame = OdometryFrame,
+ .frame = "root",
+ .agent = description.name,
+ .timestamp = timestamp
+ }
+ };
+
+ const auto result = transformReader.lookupTransform(query);
+ if (not result)
+ {
+ return std::nullopt;
+ }
+
+ return result.transform.transform;
+ }
+
+
std::optional<robot::RobotState::JointMap>
RobotReader::queryJointState(const robot::RobotDescription& description,
const armem::Time& timestamp) const // Why timestamp?!?!
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
index 6682fcd79130501530d54f770d342d02676fd069..e72b5fc64744a7ad3481990705568e92a8c56208 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h
@@ -24,9 +24,9 @@
#include <mutex>
#include <optional>
-#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem_robot/client/interfaces.h>
#include <RobotAPI/libraries/armem_robot/types.h>
#include <RobotAPI/libraries/armem_robot_state/client/localization/TransformReader.h>
@@ -99,9 +99,22 @@ namespace armarx::armem::robot_state
const armem::Time& start,
const armem::Time& end) const;
+ /**
+ * @brief retrieve the robot's pose in the odometry frame.
+ *
+ * This pose is an integration of the robot's platform velocity and undergoes a significant drift.
+ *
+ * @param description
+ * @param timestamp
+ * @return std::optional<robot::RobotState::Pose>
+ */
+ std::optional<robot::RobotState::Pose>
+ queryOdometryPose(const robot::RobotDescription& description,
+ const armem::Time& timestamp) const;
+
protected:
// by default, no timeout mechanism
- armem::Duration syncTimeout = armem::Duration::MicroSeconds(0);
+ armem::Duration syncTimeout = armem::Duration::MicroSeconds(0);
armem::Duration sleepAfterFailure = armem::Duration::MicroSeconds(0);
private:
diff --git a/source/RobotAPI/libraries/aron/common/CMakeLists.txt b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
index 98cfb29ec529238b6e76c50c51e6563cb4fb4dcb..aa0a2ea82a6304a4afb3a5bc1b34c3f820b53577 100644
--- a/source/RobotAPI/libraries/aron/common/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/common/CMakeLists.txt
@@ -13,19 +13,29 @@ armarx_add_library(
HEADERS
aron_conversions.h
+ forward_declarations.h
+ json_conversions.h
+
aron_conversions/core.h
aron_conversions/armarx.h
aron_conversions/simox.h
aron_conversions/stl.h
aron_conversions/eigen.h
+
+ json_conversions/armarx.h
+
util/object_finders.h
SOURCES
+
aron_conversions/core.cpp
aron_conversions/armarx.cpp
aron_conversions/simox.cpp
aron_conversions/stl.cpp
aron_conversions/eigen.cpp
+
+ json_conversions/armarx.cpp
+
util/object_finders.cpp
)
@@ -34,13 +44,15 @@ armarx_enable_aron_file_generation_for_target(
TARGET_NAME
"${LIB_NAME}"
ARON_FILES
- aron/trajectory.xml
- aron/color.xml
- aron/PackagePath.xml
aron/AxisAlignedBoundingBox.xml
+ aron/color.xml
+ aron/Color.xml
+ aron/framed.xml
+ aron/Names.xml
aron/OrientedBox.xml
+ aron/PackagePath.xml
aron/time.xml
- aron/framed.xml
+ aron/trajectory.xml
)
add_library(aron::common ALIAS aroncommon)
diff --git a/source/RobotAPI/libraries/aron/common/aron/Color.xml b/source/RobotAPI/libraries/aron/common/aron/Color.xml
new file mode 100644
index 0000000000000000000000000000000000000000..180a9b372464de917400387032bdff9d4c086f79
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron/Color.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <GenerateTypes>
+
+ <Object name='simox::arondto::Color'>
+ <ObjectChild key='r'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='g'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='b'>
+ <int />
+ </ObjectChild>
+
+ <ObjectChild key='a'>
+ <int />
+ </ObjectChild>
+ </Object>
+
+ </GenerateTypes>
+
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/common/aron/Names.xml b/source/RobotAPI/libraries/aron/common/aron/Names.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4c57b39981e138cbf83143a06fa71d40019a9dbe
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/aron/Names.xml
@@ -0,0 +1,25 @@
+<!--
+Recognized and spoken names of a named entity.
+-->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <GenerateTypes>
+
+ <Object name="armarx::arondto::Names">
+
+ <ObjectChild key="recognized">
+ <List>
+ <String/>
+ </List>
+ </ObjectChild>
+
+ <ObjectChild key="spoken">
+ <List>
+ <String/>
+ </List>
+ </ObjectChild>
+
+ </Object>
+
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/simox.cpp b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.cpp
index c87d13cdbd7e30aa5b7984cda69cb80261c378a7..f8629190d5f2dac1dd8189f4eb2be2425479464e 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/simox.cpp
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.cpp
@@ -1,5 +1,8 @@
#include "simox.h"
+#include <RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.aron.generated.h>
+#include <RobotAPI/libraries/aron/common/aron/Color.aron.generated.h>
+#include <RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>
void simox::fromAron(const arondto::AxisAlignedBoundingBox& dto, AxisAlignedBoundingBox& bo)
@@ -15,7 +18,6 @@ void simox::toAron(arondto::AxisAlignedBoundingBox& dto, const AxisAlignedBoundi
}
-
void simox::fromAron(const arondto::OrientedBox& dto, OrientedBoxf& bo)
{
bo = OrientedBoxf(dto.center, dto.orientation, dto.extents);
@@ -28,3 +30,19 @@ void simox::toAron(arondto::OrientedBox& dto, const OrientedBoxf& bo)
dto.extents = bo.dimensions();
}
+
+void simox::fromAron(const arondto::Color& dto, Color& bo)
+{
+ bo.r = dto.r;
+ bo.g = dto.g;
+ bo.b = dto.b;
+ bo.a = dto.a;
+}
+
+void simox::toAron(arondto::Color& dto, const Color& bo)
+{
+ dto.r = bo.r;
+ dto.g = bo.g;
+ dto.b = bo.b;
+ dto.a = bo.a;
+}
diff --git a/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
index 64e847afbb06c5b58d92db3817c7adccf7e3b563..5440ac1c6e39134c0034ccb67a06c4fff94445fa 100644
--- a/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
+++ b/source/RobotAPI/libraries/aron/common/aron_conversions/simox.h
@@ -1,10 +1,10 @@
#pragma once
+#include <SimoxUtility/color/Color.h>
#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
-#include <RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.aron.generated.h>
-
#include <SimoxUtility/shapes/OrientedBox.h>
-#include <RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>
+
+#include <RobotAPI/libraries/aron/common/forward_declarations.h>
namespace simox
@@ -14,5 +14,8 @@ namespace simox
void fromAron(const arondto::OrientedBox& dto, OrientedBoxf& bo);
void toAron(arondto::OrientedBox& dto, const OrientedBoxf& bo);
+
+ void fromAron(const arondto::Color& dto, Color& bo);
+ void toAron(arondto::Color& dto, const Color& bo);
}
diff --git a/source/RobotAPI/libraries/aron/common/forward_declarations.h b/source/RobotAPI/libraries/aron/common/forward_declarations.h
new file mode 100644
index 0000000000000000000000000000000000000000..626147c3fc35e827a7b905c8a8b0e76babf3f25e
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/forward_declarations.h
@@ -0,0 +1,13 @@
+#pragma once
+
+
+namespace simox::arondto
+{
+ class AxisAlignedBoundingBox;
+ class Color;
+ class OrientedBox;
+}
+namespace armarx::arondto
+{
+ class Names;
+}
diff --git a/source/RobotAPI/libraries/aron/common/json_conversions.h b/source/RobotAPI/libraries/aron/common/json_conversions.h
new file mode 100644
index 0000000000000000000000000000000000000000..a56bd44287eb16161f84e5d1ef0f5496903e2669
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/json_conversions.h
@@ -0,0 +1,3 @@
+#pragma once
+
+#include "json_conversions/armarx.h"
diff --git a/source/RobotAPI/libraries/aron/common/json_conversions/armarx.cpp b/source/RobotAPI/libraries/aron/common/json_conversions/armarx.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..96a26aa0fbe0930037534dbce431fc715669c299
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/json_conversions/armarx.cpp
@@ -0,0 +1,16 @@
+#include "armarx.h"
+
+#include <RobotAPI/libraries/aron/common/aron/Names.aron.generated.h>
+
+
+void armarx::arondto::to_json(nlohmann::json& j, const Names& bo)
+{
+ j["recognized"] = bo.recognized;
+ j["spoken"] = bo.spoken;
+}
+
+void armarx::arondto::from_json(const nlohmann::json& j, Names& bo)
+{
+ j.at("recognized").get_to(bo.recognized);
+ j.at("spoken").get_to(bo.spoken);
+}
diff --git a/source/RobotAPI/libraries/aron/common/json_conversions/armarx.h b/source/RobotAPI/libraries/aron/common/json_conversions/armarx.h
new file mode 100644
index 0000000000000000000000000000000000000000..4da7677a12e5537ae2d41b0cb67362cc112d49c6
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/common/json_conversions/armarx.h
@@ -0,0 +1,14 @@
+#pragma once
+
+#include <SimoxUtility/json/json.h>
+
+#include <RobotAPI/libraries/aron/common/forward_declarations.h>
+
+
+namespace armarx::arondto
+{
+
+ void to_json(nlohmann::json& j, const Names& bo);
+ void from_json(const nlohmann::json& j, Names& bo);
+
+}
diff --git a/source/RobotAPI/libraries/aron/converter/opencv/CMakeLists.txt b/source/RobotAPI/libraries/aron/converter/opencv/CMakeLists.txt
index 9fa96dc6af108cc089da8774d7fd59d28291c428..4a3eadd0caaec648db2a175f7a103b33b7a3acad 100644
--- a/source/RobotAPI/libraries/aron/converter/opencv/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/converter/opencv/CMakeLists.txt
@@ -7,7 +7,9 @@ armarx_build_if(OpenCV_FOUND "OpenCV not available")
set(LIBS
aron
- ${OpenCV_LIBRARIES}
+ opencv_core
+ opencv_imgcodecs
+ opencv_imgproc
)
set(LIB_FILES
diff --git a/source/RobotAPI/statecharts/SpeechObserverTestGroup/SpeechObserverTestGroup.scgxml b/source/RobotAPI/statecharts/SpeechObserverTestGroup/SpeechObserverTestGroup.scgxml
index 31abf88dfe93cad5399c7da4ece19e38c9dad1b9..e04b89d7414961aba30f7d9119fa8dda09477b29 100644
--- a/source/RobotAPI/statecharts/SpeechObserverTestGroup/SpeechObserverTestGroup.scgxml
+++ b/source/RobotAPI/statecharts/SpeechObserverTestGroup/SpeechObserverTestGroup.scgxml
@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<StatechartGroup name="SpeechObserverTestGroup" package="RobotAPI" generateContext="true">
<Proxies>
- <Proxy value="RobotAPIInterfaces.speechObserver"/>
+ <Proxy value="ArmarXCoreInterfaces.speechObserver"/>
<Proxy value="RobotAPIInterfaces.textToSpeech"/>
</Proxies>
<State filename="TestTextToSpeech.xml" visibility="public"/>