Add visu settings in Remotegui

source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp

@@ -55,7 +55,6 @@ namespace armarx
         return defs;
     }
 
-
     std::string ObjectPoseObserver::getDefaultName() const
     {
         return "ObjectPoseObserver";
@@ -69,6 +68,9 @@ namespace armarx
     void ObjectPoseObserver::onConnectObserver()
     {
         this->robot = RobotState::addRobot("robot", VirtualRobot::RobotIO::RobotDescription::eStructure);
+
+        createRemoteGuiTab();
+        RemoteGui_startRunningTask();
     }
 
     void ObjectPoseObserver::onDisconnectComponent()
@@ -80,8 +82,86 @@ namespace armarx
     }
 
 
+    void ObjectPoseObserver::createRemoteGuiTab()
+    {
+        using namespace armarx::RemoteGui::Client;
+
+        tab.visuEnabled.setValue(visu.enabled);
+        tab.visuInGlobalFrame.setValue(visu.inGlobalFrame);
+
+        tab.visuAlpha.setRange(0, 1.0);
+        tab.visuAlpha.setValue(visu.alpha);
+
+        GroupBox visuGroup;
+        {
+            GridLayout grid;
+            int row = 0;
+            grid.add(Label("Enabled"), {row, 0}).add(tab.visuEnabled, {row, 1});
+            row++;
+            grid.add(Label("Global Frame"), {row, 0}).add(tab.visuInGlobalFrame, {row, 1});
+            row++;
+            grid.add(Label("Alpha"), {row, 0}).add(tab.visuAlpha, {row, 1});
+            row++;
+
+            visuGroup.setLabel("Visualization");
+            visuGroup.addChild(grid);
+        }
+
+        VBoxLayout root = {visuGroup, VSpacer()};
+        RemoteGui_createTab(getName(), root, &tab);
+    }
+
+    void ObjectPoseObserver::RemoteGui_update()
+    {
+        visu.enabled = tab.visuEnabled.getValue();
+        visu.inGlobalFrame = tab.visuInGlobalFrame.getValue();
+        visu.alpha = tab.visuAlpha.getValue();
+    }
+
+
     void ObjectPoseObserver::reportProviderAvailable(const std::string& providerName, const Ice::Current&)
     {
+        static const bool refresh = true;
+        fetchProviderInfo(providerName, refresh);
+    }
+
+    void ObjectPoseObserver::reportObjectPoses(
+        const std::string& providerName, const objpose::data::ProvidedObjectPoseSeq& providedPoses, const Ice::Current&)
+    {
+        ARMARX_VERBOSE << "Received object poses from '" << providerName << "'.";
+
+        static const bool refresh = false;
+        fetchProviderInfo(providerName, refresh);
+
+        objpose::ObjectPoseSeq objectPoses;
+        {
+            std::scoped_lock lock(dataMutex);
+            RobotState::synchronizeLocalClone("robot");
+
+            for (const auto& provided : providedPoses)
+            {
+                objpose::ObjectPose& pose = objectPoses.emplace_back();
+                pose.fromProvidedPose(provided, robot);
+            }
+        }
+
+        {
+            std::scoped_lock lock(dataMutex);
+            this->objectPoses[providerName] = objectPoses;
+            handleProviderUpdate(providerName);
+        }
+    }
+
+    void ObjectPoseObserver::fetchProviderInfo(const std::string& providerName, bool refresh)
+    {
+        {
+            std::scoped_lock lock(dataMutex);
+            if (!refresh && providers.count(providerName) > 0)
+            {
+                return;  // Do nothing.
+            }
+        }
+
         objpose::ObjectPoseProviderPrx provider = getProviderProxy(providerName);
         if (!provider)
         {
@@ -118,30 +198,6 @@ namespace armarx
         offerOrUpdateDataField(providerName, "objectType", objpose::ObjectTypeEnumNames.to_name(info.objectType), "");
     }
 
-    void ObjectPoseObserver::reportObjectPoses(
-        const std::string& providerName, const objpose::data::ProvidedObjectPoseSeq& providedPoses, const Ice::Current&)
-    {
-        ARMARX_VERBOSE << "Received object poses from '" << providerName << "'.";
-
-        objpose::ObjectPoseSeq objectPoses;
-        {
-            std::scoped_lock lock(dataMutex);
-            RobotState::synchronizeLocalClone("robot");
-
-            for (const auto& provided : providedPoses)
-            {
-                objpose::ObjectPose& pose = objectPoses.emplace_back();
-                pose.fromProvidedPose(provided, robot);
-            }
-        }
-
-        {
-            std::scoped_lock lock(dataMutex);
-            this->objectPoses[providerName] = objectPoses;
-            handleProviderUpdate(providerName);
-        }
-    }
-
 
     objpose::data::ObjectPoseSeq ObjectPoseObserver::getObjectPoses(const Ice::Current&)
     {
@@ -245,20 +301,6 @@ 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

@@ -120,6 +120,7 @@ namespace armarx
 
     private:
 
+        void fetchProviderInfo(const std::string& providerName, bool refresh = false);
         void handleProviderUpdate(const std::string& providerName);
         void visProviderUpdate(const std::string& providerName);
 
@@ -153,7 +154,9 @@ namespace armarx
 
         struct RemoteGuiTab : RemoteGui::Client::Tab
         {
-
+            RemoteGui::Client::CheckBox visuEnabled;
+            RemoteGui::Client::CheckBox visuInGlobalFrame;
+            RemoteGui::Client::FloatSlider visuAlpha;
         };
         RemoteGuiTab tab;
     };

source/RobotAPI/components/ObjectPoseObserver/ice_conversions.cpp

@@ -15,6 +15,11 @@
 namespace armarx
 {
 
+    std::string objpose::getID(const ObjectID& id)
+    {
+        return id.dataset + "/" + id.name;
+    }
+
     std::ostream& objpose::operator<<(std::ostream& os, const ObjectID& id)
     {
         return os << "'" << id.dataset << "/" << id.name << "'";
@@ -49,3 +54,5 @@ namespace armarx
 
 
 
+
+

source/RobotAPI/components/ObjectPoseObserver/ice_conversions.h

@@ -19,6 +19,7 @@ namespace simox
 namespace armarx::objpose
 {
 
+    std::string getID(const ObjectID& id);
     std::ostream& operator<<(std::ostream& os, const ObjectID& id);
 
     extern const simox::meta::EnumNames<objpose::ObjectTypeEnum> ObjectTypeEnumNames;