From da0eb151b6224a2f22309df0d636aac4b5c89c4e Mon Sep 17 00:00:00 2001
From: Markus Grotz <markus.grotz@kit.edu>
Date: Thu, 10 Mar 2022 14:35:42 +0100
Subject: [PATCH] add armem_reasoning
---
source/RobotAPI/libraries/CMakeLists.txt | 1 +
.../libraries/armem_reasoning/CMakeLists.txt | 25 ++++++++++
.../armem_reasoning/aron/Anticipation.xml | 20 ++++++++
.../armem_reasoning/aron_conversions.cpp | 28 +++++++++++
.../armem_reasoning/aron_conversions.h | 31 +++++++++++++
.../server/AnticipationSegment.cpp | 39 ++++++++++++++++
.../server/AnticipationSegment.h | 46 +++++++++++++++++++
.../armem_reasoning/server/CMakeLists.txt | 22 +++++++++
8 files changed, 212 insertions(+)
create mode 100644 source/RobotAPI/libraries/armem_reasoning/CMakeLists.txt
create mode 100644 source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
create mode 100644 source/RobotAPI/libraries/armem_reasoning/aron_conversions.cpp
create mode 100644 source/RobotAPI/libraries/armem_reasoning/aron_conversions.h
create mode 100644 source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.cpp
create mode 100644 source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.h
create mode 100644 source/RobotAPI/libraries/armem_reasoning/server/CMakeLists.txt
diff --git a/source/RobotAPI/libraries/CMakeLists.txt b/source/RobotAPI/libraries/CMakeLists.txt
index 86bdc8fa4..099ad8b4b 100644
--- a/source/RobotAPI/libraries/CMakeLists.txt
+++ b/source/RobotAPI/libraries/CMakeLists.txt
@@ -23,6 +23,7 @@ add_subdirectory(armem_gui)
add_subdirectory(armem_motions)
add_subdirectory(armem_mps)
add_subdirectory(armem_objects)
+add_subdirectory(armem_reasoning)
add_subdirectory(armem_robot)
add_subdirectory(armem_robot_state)
add_subdirectory(armem_skills)
diff --git a/source/RobotAPI/libraries/armem_reasoning/CMakeLists.txt b/source/RobotAPI/libraries/armem_reasoning/CMakeLists.txt
new file mode 100644
index 000000000..e5ab71901
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/CMakeLists.txt
@@ -0,0 +1,25 @@
+set(LIB_NAME armem_reasoning)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+
+armarx_add_library(
+ LIBS
+ ArmarXCoreInterfaces ArmarXCore
+ RobotAPICore aron armem
+
+ SOURCES
+ aron_conversions.cpp
+
+ HEADERS
+ aron_conversions.h
+
+ ARON_FILES
+ aron/Anticipation.xml
+)
+
+
+add_library(VisionX::armem_reasoning ALIAS ${LIB_NAME})
+
+add_subdirectory(server)
diff --git a/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml b/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
new file mode 100644
index 000000000..a3f481c63
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/aron/Anticipation.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <CodeIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
+ </CodeIncludes>
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true" />
+ </AronIncludes>
+
+ <GenerateTypes>
+ <Object name='armarx::reasoning::arondto::Anticipation'>
+ <ObjectChild key='predictions'>
+ <List optional='true'>
+ <string />
+ </List>
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/armem_reasoning/aron_conversions.cpp b/source/RobotAPI/libraries/armem_reasoning/aron_conversions.cpp
new file mode 100644
index 000000000..e721f12a9
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/aron_conversions.cpp
@@ -0,0 +1,28 @@
+/*
+ * 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::armem_images_server
+ * @author Markus Grotz ( markus dot grotz at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "aron_conversions.h"
+
+namespace armarx::armem::server::reasoning
+{
+
+}
diff --git a/source/RobotAPI/libraries/armem_reasoning/aron_conversions.h b/source/RobotAPI/libraries/armem_reasoning/aron_conversions.h
new file mode 100644
index 000000000..2e4d7c8bb
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/aron_conversions.h
@@ -0,0 +1,31 @@
+/*
+ * 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::armem_images_server
+ * @author Markus Grotz ( markus dot grotz at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
+#include <RobotAPI/libraries/armem_reasoning/aron/Anticipation.aron.generated.h>
+
+namespace armarx::armem::server::reasoning
+{
+
+}
diff --git a/source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.cpp b/source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.cpp
new file mode 100644
index 000000000..bf2d89bb7
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.cpp
@@ -0,0 +1,39 @@
+/*
+ * 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::armem_images_server
+ * @author Markus Grotz ( markus dot grotz at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "AnticipationSegment.h"
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+
+namespace armarx::armem::server::reasoning
+{
+ AnticipationSegment::AnticipationSegment(armem::server::MemoryToIceAdapter& iceMemory) :
+ Base(iceMemory, CORE_SEGMENT_NAME)
+ {
+
+ }
+
+ void AnticipationSegment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ {
+ Base::defineProperties(defs, prefix);
+ }
+}
diff --git a/source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.h b/source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.h
new file mode 100644
index 000000000..3a05c7adb
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/server/AnticipationSegment.h
@@ -0,0 +1,46 @@
+/*
+ * 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::armem_images_server
+ * @author Markus Grotz ( markus dot grotz at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <mutex>
+#include <string>
+
+#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
+
+#include <RobotAPI/libraries/armem_reasoning/aron/Anticipation.aron.generated.h>
+
+namespace armarx::armem::server::reasoning
+{
+ class AnticipationSegment : public armem::server::segment::SpecializedCoreSegment
+ {
+ public:
+ using Base = armem::server::segment::SpecializedCoreSegment;
+
+ AnticipationSegment(armem::server::MemoryToIceAdapter& iceMemory);
+
+ virtual void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override;
+
+ public:
+ const std::string CORE_SEGMENT_NAME = "Anticipation";
+ };
+}
diff --git a/source/RobotAPI/libraries/armem_reasoning/server/CMakeLists.txt b/source/RobotAPI/libraries/armem_reasoning/server/CMakeLists.txt
new file mode 100644
index 000000000..248aa1d9d
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_reasoning/server/CMakeLists.txt
@@ -0,0 +1,22 @@
+set(ARMARX_LIB_NAME "" )
+set(ARON_FILES "")
+
+set(LIB_NAME armem_reasoning_server)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+ LIBS
+ armem_reasoning
+ armem_server
+
+ SOURCES
+ AnticipationSegment.cpp
+
+ HEADERS
+ AnticipationSegment.h
+)
+
+
+add_library(VisionX::armem_reasoning_server ALIAS ${LIB_NAME})
--
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