Merge remote-tracking branch 'origin/master' into armem/dev

# Conflicts:
#	source/RobotAPI/libraries/armem/core/base/EntityBase.h

source/RobotAPI/components/ArViz/Client/Elements.h

 #pragma once
 
-#include <RobotAPI/interface/ArViz/Elements.h>
 
-#include <SimoxUtility/EigenStdVector.h>
-#include <SimoxUtility/math/normal/normal_to_mat4.h>
-#include <SimoxUtility/math/convert/rpy_to_mat3f.h>
-#include <SimoxUtility/math/pose/transform.h>
-#include <SimoxUtility/shapes/OrientedBoxBase.h>
 
-#include <Eigen/Core>
-#include <Eigen/Geometry>
 
-#include <string>
 
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
 #include "Color.h"
 #include "elements/ElementOps.h"
@@ -22,6 +12,22 @@
 #include "elements/Robot.h"
 //#include "elements/RobotHand.h"  // Not included by default (exposes additional headers).
 
+#include <RobotAPI/interface/ArViz/Elements.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <SimoxUtility/EigenStdVector.h>
+#include <SimoxUtility/math/normal/normal_to_mat4.h>
+#include <SimoxUtility/math/convert/rpy_to_mat3f.h>
+#include <SimoxUtility/math/pose/transform.h>
+#include <SimoxUtility/shapes/OrientedBoxBase.h>
+
+#include <Eigen/Geometry>
+#include <Eigen/Core>
+
+#include <ctime>
+#include <string>
+
 // The has_member macro causes compile errors if *any* other header uses
 // the identifier has_member. Boost.Thread does, so this causes compile
 // errors down the line.
@@ -118,7 +124,7 @@ namespace armarx::viz
         template<class T>
         Box(
             const simox::OrientedBoxBase<T>& b,
-            const std::string& name = std::to_string(std::chrono::high_resolution_clock::now().time_since_epoch().count())
+            const std::string& name = std::to_string(std::time(0))
         )
             : Box(name, b)
         {}

source/RobotAPI/components/ArViz/Coin/Visualizer.cpp

@@ -119,12 +119,15 @@ namespace armarx::viz
             return;
         }
 
+        state = CoinVisualizerState::STOPPED;
+        /*
         state = CoinVisualizerState::STOPPING;
         while (state != CoinVisualizerState::STOPPED)
         {
             QCoreApplication::processEvents();
             usleep(1000);
         }
+        */
     }
 
     CoinVisualizer_ApplyTiming CoinVisualizer::apply(data::LayerUpdate const& update)

source/RobotAPI/components/units/relays/CMakeLists.txt

-set(LIB_NAME       RobotAPIUnitListenerRelays)
-armarx_set_target("RobotAPI Unit Listener Relays Library: ${LIB_NAME}")
+#set(LIB_NAME       RobotAPIUnitListenerRelays)
+#armarx_set_target("RobotAPI Unit Listener Relays Library: ${LIB_NAME}")
 
-set(LIBS ArmarXCore RobotAPIInterfaces)
+#set(LIBS ArmarXCore RobotAPIInterfaces)
 
-set(LIB_HEADERS 
-    KinematicUnitListenerRelay.h
-    InertialMeasurementUnitListenerRelay.h
-    ForceTorqueUnitListenerRelay.h
-    RobotStateListenerRelay.h
-)
+#set(LIB_HEADERS
+#    KinematicUnitListenerRelay.h
+#    InertialMeasurementUnitListenerRelay.h
+#    ForceTorqueUnitListenerRelay.h
+#    RobotStateListenerRelay.h
+#)
 
-set(LIB_FILES syntaxcheck.cpp)
+#set(LIB_FILES syntaxcheck.cpp)
 
-armarx_add_library("${LIB_NAME}"  "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+#armarx_add_library("${LIB_NAME}"  "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
 

source/RobotAPI/components/units/relays/ForceTorqueUnitListenerRelay.h

-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    VisionX::ArmarXObjects::ForceTorqueUnitListenerRelay
- * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
- * @date       2016
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-#include <ArmarXCore/core/ManagedIceObject.h>
-#include <ArmarXCore/core/util/noop.h>
-#include <RobotAPI/interface/units/ForceTorqueUnit.h>
-
-namespace armarx
-{
-    class ForceTorqueUnitListenerRelay :
-        virtual public ManagedIceObject,
-        virtual public ForceTorqueUnitListener
-    {
-    public:
-        using CallbackFunctionSensorValues = std::function<void(const std::string&, const FramedDirectionBasePtr&, const FramedDirectionBasePtr&)>;
-
-        // ForceTorqueUnitListener interface
-        void reportSensorValues(const std::string& sensorNodeName, const FramedDirectionBasePtr& forces, const FramedDirectionBasePtr& torques, const Ice::Current& = Ice::emptyCurrent) override
-        {
-            callbackReportSensorValues(sensorNodeName, forces, torques);
-        }
-    protected:
-        // ManagedIceObject interface
-        void onInitComponent() override
-        {
-            usingTopic(topicName);
-        }
-        void onConnectComponent() override {}
-        std::string getDefaultName() const override
-        {
-            return "ForceTorqueUnitListenerRelay";
-        }
-    public:
-        std::string topicName;
-        CallbackFunctionSensorValues callbackReportSensorValues {noop<const std::string&, const FramedDirectionBasePtr&, const FramedDirectionBasePtr&>};
-    };
-    using ForceTorqueUnitListenerRelayPtr = IceInternal::Handle<ForceTorqueUnitListenerRelay>;
-}

source/RobotAPI/components/units/relays/InertialMeasurementUnitListenerRelay.h

-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    VisionX::ArmarXObjects::InertialMeasurementUnitListenerRelay
- * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
- * @date       2016
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-#include <ArmarXCore/core/ManagedIceObject.h>
-#include <ArmarXCore/core/util/noop.h>
-#include <RobotAPI/interface/units/InertialMeasurementUnit.h>
-
-namespace armarx
-{
-    class InertialMeasurementUnitListenerRelay :
-        virtual public ManagedIceObject,
-        virtual public InertialMeasurementUnitListener
-    {
-    public:
-        using CallbackFunctionSensorValues = std::function<void(const std::string&, const std::string&, const IMUData&, const TimestampBasePtr&)>;
-
-        // InertialMeasurementUnitListener interface
-        void reportSensorValues(const std::string& device, const std::string& name, const IMUData& values, const TimestampBasePtr& timestamp, const Ice::Current& = Ice::emptyCurrent) override
-        {
-            callbackReportSensorValues(device, name, values, timestamp);
-        }
-    protected:
-        // ManagedIceObject interface
-        void onInitComponent() override
-        {
-            usingTopic(topicName);
-        }
-        void onConnectComponent() override {}
-        std::string getDefaultName() const override
-        {
-            return "InertialMeasurementUnitListenerRelay";
-        }
-    public:
-        std::string topicName;
-        CallbackFunctionSensorValues callbackReportSensorValues {noop<const std::string&, const std::string&, const IMUData&, const TimestampBasePtr&>};
-    };
-    using InertialMeasurementUnitListenerRelayPtr = IceInternal::Handle<InertialMeasurementUnitListenerRelay>;
-}

source/RobotAPI/components/units/relays/KinematicUnitListenerRelay.h

-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    VisionX::ArmarXObjects::KinematicUnitListenerRelay
- * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
- * @date       2016
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-#include <ArmarXCore/core/ManagedIceObject.h>
-#include <ArmarXCore/core/util/noop.h>
-#include <RobotAPI/interface/units/KinematicUnitInterface.h>
-
-namespace armarx
-{
-    class KinematicUnitListenerRelay :
-        virtual public ManagedIceObject,
-        virtual public KinematicUnitListener
-    {
-    public:
-        using CallbackFunctionModes = std::function<void(const NameControlModeMap&, Ice::Long, bool)>;
-        using CallbackFunctionState = std::function<void(const NameStatusMap&, Ice::Long, bool)>;
-        using CallbackFunctionValue = std::function<void(const NameValueMap&, Ice::Long, bool)>;
-
-        // KinematicUnitListener interface
-        void reportControlModeChanged(const NameControlModeMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
-        {
-            callbackReportControlModeChanged(map, time, changes);
-        }
-        void reportJointAngles(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
-        {
-            callbackReportJointAngles(map, time, changes);
-        }
-        void reportJointVelocities(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
-        {
-            callbackReportJointVelocities(map, time, changes);
-        }
-        void reportJointTorques(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
-        {
-            callbackReportJointTorques(map, time, changes);
-        }
-        void reportJointAccelerations(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
-        {
-            callbackReportJointAccelerations(map, time, changes);
-        }
-        void reportJointCurrents(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
-        {
-            callbackReportJointCurrents(map, time, changes);
-        }
-        void reportJointMotorTemperatures(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
-        {
-            callbackReportJointMotorTemperatures(map, time, changes);
-        }
-        void reportJointStatuses(const NameStatusMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent) override
-        {
-            callbackReportJointStatuses(map, time, changes);
-        }
-
-    protected:
-        // ManagedIceObject interface
-        void onInitComponent() override
-        {
-            usingTopic(topicName);
-        }
-        void onConnectComponent() override {}
-        std::string getDefaultName() const override
-        {
-            return "KinematicUnitListenerRelay";
-        }
-    public:
-        std::string topicName;
-        CallbackFunctionModes callbackReportControlModeChanged     {noop<const NameControlModeMap&, Ice::Long, bool>};
-        CallbackFunctionValue callbackReportJointAngles            {noop<const NameValueMap&, Ice::Long, bool>};
-        CallbackFunctionValue callbackReportJointVelocities        {noop<const NameValueMap&, Ice::Long, bool>};
-        CallbackFunctionValue callbackReportJointTorques           {noop<const NameValueMap&, Ice::Long, bool>};
-        CallbackFunctionValue callbackReportJointAccelerations     {noop<const NameValueMap&, Ice::Long, bool>};
-        CallbackFunctionValue callbackReportJointCurrents          {noop<const NameValueMap&, Ice::Long, bool>};
-        CallbackFunctionValue callbackReportJointMotorTemperatures {noop<const NameValueMap&, Ice::Long, bool>};
-        CallbackFunctionState callbackReportJointStatuses          {noop<const NameStatusMap&, Ice::Long, bool>};
-    };
-    using KinematicUnitListenerRelayPtr = IceInternal::Handle<KinematicUnitListenerRelay>;
-}

source/RobotAPI/components/units/relays/RobotStateListenerRelay.h

-/*
- * This file is part of ArmarX.
- *
- * ArmarX is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * ArmarX is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * @package    VisionX::ArmarXObjects::KinematicUnitListenerRelay
- * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
- * @date       2016
- * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
- *             GNU General Public License
- */
-#include <ArmarXCore/core/ManagedIceObject.h>
-#include <ArmarXCore/core/util/noop.h>
-#include <RobotAPI/interface/core/RobotState.h>
-
-namespace armarx
-{
-    class RobotStateListenerRelay :
-        virtual public ManagedIceObject,
-        virtual public RobotStateListenerInterface
-    {
-    public:
-        using CallbackFunctionValue = std::function<void(const NameValueMap&, Ice::Long, bool)>;
-        using CallbackFunctionPose  = std::function<void(const FramedPoseBasePtr&, Ice::Long, bool)>;
-
-        virtual void reportJointValues(const NameValueMap& map, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent)
-        {
-            callbackReportJointValues(map, time, changes);
-        }
-        void reportGlobalRobotRootPose(const FramedPoseBasePtr& pose, Ice::Long time, bool changes, const Ice::Current& = Ice::emptyCurrent)
-        {
-            callbackReportGlobalRobotRootPose(pose, time, changes);
-        }
-    protected:
-        // ManagedIceObject interface
-        virtual void onInitComponent()
-        {
-            usingTopic(topicName);
-        }
-        virtual void onConnectComponent() {}
-        virtual std::string getDefaultName() const
-        {
-            return "RobotStateListener";
-        }
-    public:
-        std::string topicName;
-        CallbackFunctionValue callbackReportJointValues         {noop<const NameValueMap&, Ice::Long, bool>};
-        CallbackFunctionPose  callbackReportGlobalRobotRootPose {noop<const FramedPoseBasePtr&, Ice::Long, bool>};
-    };
-    using RobotStateListenerRelayPtr = IceInternal::Handle<RobotStateListenerRelay>;
-}

source/RobotAPI/components/units/relays/syntaxcheck.cpp

-#include "KinematicUnitListenerRelay.h"
-#include "InertialMeasurementUnitListenerRelay.h"
-#include "ForceTorqueUnitListenerRelay.h"

source/RobotAPI/gui-plugins/ArViz/ArVizWidgetController.cpp

@@ -176,8 +176,6 @@ namespace armarx
 
     void ArVizWidgetController::onDisconnectComponent()
     {
-        visualizer.stop();
-
         // Changes to UI elements are only allowed in the GUI thread
         emit disconnectGui();
     }
@@ -195,6 +193,7 @@ namespace armarx
     void ArVizWidgetController::onDisconnectGui()
     {
         timingObserverTimer->stop();
+        visualizer.stop();
         changeMode(ArVizWidgetMode::NotConnected);
     }
 

source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllerClassesWidget.cpp

@@ -25,6 +25,7 @@
 #include "NJointControllerClassesWidget.h"
 #include <ArmarXCore/core/system/cmake/CMakePackageFinder.h>
 #include <ArmarXCore/core/util/StringHelpers.h>
+#include <ArmarXCore/core/logging/Logging.h>
 
 #include <QGridLayout>
 #include <QDir>

source/RobotAPI/gui-plugins/RobotUnitPlugin/QWidgets/NJointControllersWidget.cpp

@@ -22,6 +22,8 @@
 #include "NJointControllersWidget.h"
 #include "StyleSheets.h"
 
+#include <ArmarXCore/core/logging/Logging.h>
+
 namespace armarx
 {
     NJointControllersWidget::NJointControllersWidget(QWidget* parent) :

source/RobotAPI/libraries/ArmarXEtherCAT/SlaveIdentifier.cpp

@@ -23,6 +23,8 @@
 
 #include "SlaveIdentifier.h"
 
+#include <ArmarXCore/core/logging/Logging.h>
+
 using namespace armarx;
 
 SlaveIdentifier::SlaveIdentifier(const RapidXmlReaderNode& node)

source/RobotAPI/libraries/ArmarXObjects/ObjectInfo.cpp

@@ -6,6 +6,7 @@
 #include <SimoxUtility/shapes/OrientedBox.h>
 
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
 
 
 namespace armarx

source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.cpp

@@ -2,6 +2,8 @@
 
 #include <RobotAPI/libraries/armem_robot/aron_conversions.h>
 
+#include <ArmarXCore/core/logging/Logging.h>
+
 namespace armarx::armem::articulated_object
 {
     std::optional<robot::RobotDescription>
@@ -31,4 +33,4 @@ namespace armarx::armem::articulated_object
 
         return robotDescription;
     }
-} // namespace armarx::armem::articulated_object
+} // namespace armarx::armem::articulated_object
\ No newline at end of file

source/RobotAPI/libraries/armem_robot/robot_conversions.cpp

@@ -10,6 +10,8 @@
 #include <RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>
 #include <RobotAPI/libraries/armem_robot/aron_conversions.h>
 
+#include <ArmarXCore/core/logging/Logging.h>
+
 
 namespace fs = ::std::filesystem;