Add robot state

source/RobotAPI/components/ObjectPoseObserver/CMakeLists.txt

@@ -3,6 +3,7 @@ armarx_component_set_name("ObjectPoseObserver")
 
 set(COMPONENT_LIBS
     ArmarXCore ArmarXCoreInterfaces
+    ArmarXGuiComponentPlugins
     RobotAPIComponentPlugins
 
     ${PROJECT_NAME}Interfaces

source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp

@@ -71,6 +71,7 @@ namespace armarx
     void ObjectPoseObserver::onInitObserver()
     {
         usingTopicFromProperty("ObjectPoseTopicName");
+        this->robot = RobotState::addRobot("robot", VirtualRobot::RobotIO::RobotDescription::eStructure);
     }
 
     void ObjectPoseObserver::onConnectObserver()
@@ -101,7 +102,13 @@ namespace armarx
             std::scoped_lock lock(dataMutex);
             if (providers.count(providerName) == 0)
             {
-                ARMARX_VERBOSE << "New provider '" << providerName << "' available.";
+                std::stringstream ss;
+                for (const auto& id : info.supportedObjects)
+                {
+                    ss << "- " << id << "\n";
+                }
+                ARMARX_VERBOSE << "New provider '" << providerName << "' available.\n"
+                               << "Supported objects: \n" << ss.str();
             }
             providers[providerName] = info;
 
@@ -148,7 +155,7 @@ namespace armarx
             {
                 for (const auto& [name, info] : providers)
                 {
-                    // ToDo: optimize look up by using sets.
+                    // ToDo: optimize look.
                     if (std::find(info.supportedObjects.begin(), info.supportedObjects.end(), objectID) != info.supportedObjects.end())
                     {
                         requests[name].push_back(objectID);
@@ -171,22 +178,41 @@ namespace armarx
 
     objpose::ProviderInfoMap ObjectPoseObserver::getAvailableProvidersWithInfo(const Ice::Current&)
     {
-        return {};
+        return providers;
     }
 
     Ice::StringSeq ObjectPoseObserver::getAvailableProviderNames(const Ice::Current&)
     {
-        return {};
+        Ice::StringSeq names;
+        for (const auto& [name, _] : providers)
+        {
+            names.push_back(name);
+        }
+        return names;
     }
 
     objpose::ProviderInfo ObjectPoseObserver::getProviderInfo(const std::string& providerName, const Ice::Current&)
     {
-        return {};
+        try
+        {
+            return providers.at(providerName);
+        }
+        catch (const std::out_of_range&)
+        {
+            std::stringstream ss;
+            ss << "No provider with name '" << providerName << "' available.\n";
+            ss << "Available are:\n";
+            for (const auto& [name, _] : providers)
+            {
+                ss << "- '" << name << "'\n";
+            }
+            throw std::out_of_range(ss.str());
+        }
     }
 
     bool ObjectPoseObserver::hasProvider(const std::string& providerName, const Ice::Current&)
     {
-        return {};
+        return providers.count(providerName) > 0;
     }
 
 
@@ -202,6 +228,20 @@ namespace armarx
     }
 
 
+    void ObjectPoseObserver::createRemoteGuiTab()
+    {
+        using namespace armarx::RemoteGui::Client;
+
+        VBoxLayout root = {};
+        RemoteGui_createTab(getName(), root, &tab);
+    }
+
+    void ObjectPoseObserver::RemoteGui_update()
+    {
+
+    }
+
+
     void ObjectPoseObserver::handleProviderUpdate(const std::string& providerName)
     {
         // Initialized to 0 on first access.

source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.h

@@ -26,8 +26,11 @@
 
 #include <ArmarXCore/observers/Observer.h>
 
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+
 #include <RobotAPI/interface/objectpose/ObjectPoseObserver.h>
 #include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>
 
 #include "ObjectFinder.h"
 
@@ -69,9 +72,13 @@ namespace armarx
     class ObjectPoseObserver :
         virtual public Observer
         , virtual public objpose::ObjectPoseObserverInterface
+        , virtual public armarx::RobotStateComponentPluginUser
+        , virtual public armarx::LightweightRemoteGuiComponentPluginUser
         , virtual public armarx::ArVizComponentPluginUser
+
     {
     public:
+        using RobotState = armarx::RobotStateComponentPluginUser;
 
         /// @see armarx::ManagedIceObject::getDefaultName()
         std::string getDefaultName() const override;
@@ -100,6 +107,11 @@ namespace armarx
         StringIntDictionary getAllUpdateCounters(ICE_CURRENT_ARG) override;
 
 
+        // Remote GUI
+        void createRemoteGuiTab();
+        void RemoteGui_update() override;
+
+
     protected:
 
         void onInitObserver() override;
@@ -120,8 +132,8 @@ namespace armarx
 
     private:
 
-        Ice::StringSeq getAvailableProviderNames();
-
+        std::mutex robotMutex;
+        VirtualRobot::RobotPtr robot;
 
         std::mutex dataMutex;
         objpose::ProviderInfoMap providers;
@@ -139,6 +151,12 @@ namespace armarx
         };
         Visu visu;
 
+
+        struct RemoteGuiTab : RemoteGui::Client::Tab
+        {
+
+        };
+        RemoteGuiTab tab;
     };
 
 }