Merge branch 'feature/reload-grasps-on-file-change' into 'master'

GraspMemory: Reload grasps on file change

See merge request !513

source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp

@@ -51,7 +51,7 @@ namespace armarx::plugins
     bool
     RobotStateComponentPlugin::hasRobot(const std::string& id) const
     {
-        std::lock_guard{_robotsMutex};
+        std::lock_guard g{_robotsMutex};
         return _robots.count(id);
     }
 
@@ -70,7 +70,7 @@ namespace armarx::plugins
         {
             ARMARX_CHECK_EXPRESSION(robot == node->getRobot());
         }
-        std::lock_guard{_robotsMutex};
+        std::lock_guard g {_robotsMutex};
         ARMARX_CHECK_EXPRESSION(!hasRobot(id)) << "Robot with id '" << id << "' was already added";
         if (rns && !node)
         {
@@ -147,7 +147,7 @@ namespace armarx::plugins
     RobotStateComponentPlugin::RobotData
     RobotStateComponentPlugin::getRobotData(const std::string& id) const
     {
-        std::lock_guard{_robotsMutex};
+        std::lock_guard g{_robotsMutex};
         ARMARX_CHECK_EXPRESSION(hasRobot(id)) << "No robot with id '" << id << "' loaded";
         return _robots.at(id);
     }
@@ -157,7 +157,7 @@ namespace armarx::plugins
                                                   const std::string& rnsName,
                                                   const std::string& nodeName)
     {
-        std::lock_guard{_robotsMutex};
+        std::lock_guard g{_robotsMutex};
         ARMARX_CHECK_EXPRESSION(hasRobot(id)) << "No robot with id '" << id << "' loaded";
         auto& r = _robots.at(id);
         ARMARX_CHECK_EXPRESSION(!rnsName.empty())

source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.h

 #pragma once
 
-#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
-#include <RobotAPI/libraries/armem/server/segment/SpecializedSegment.h>
+#include <filesystem>
+#include <optional>
+
+#include <ArmarXCore/core/services/tasks/TaskUtil.h>
+
+#include "RobotAPI/libraries/ArmarXObjects/ObjectID.h"
+#include "RobotAPI/libraries/ArmarXObjects/ObjectInfo.h"
+#include "RobotAPI/libraries/armem/server/forward_declarations.h"
+#include "RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h"
 #include <RobotAPI/libraries/armem_grasping/aron/KnownGraspCandidate.aron.generated.h>
 
 namespace armarx::armem::grasping::segment
@@ -19,6 +26,27 @@ namespace armarx::armem::grasping::segment
         void loadMemory();
         std::optional<arondto::KnownGraspInfo> knownGraspInfoFromObjectInfo(const ObjectInfo&);
 
+        struct GraspFileInfo
+        {
+            PackageFileLocation fileLocInfo;
+            ObjectID objectId;
+
+            static GraspFileInfo FromObjectInfo(const ObjectInfo& objectInfo)
+            {
+                const std::string objectClassName = objectInfo.className();
+                PackageFileLocation fileLocInfo = objectInfo.file(".xml", "_Grasps");
+
+                return GraspFileInfo{.fileLocInfo = fileLocInfo, .objectId = objectInfo.id()};
+            }
+        };
+
+        std::optional<arondto::KnownGraspInfo>
+        knownGraspInfoFromFile(const GraspFileInfo& graspFileInfo);
+
+        void installFileWatcher();
+
+        SimpleRunningTask<>::pointer_type fileWatcherTask;
+
     public:
         static const constexpr char* CORE_SEGMENT_NAME = "KnownGraspCandidate";
         static const constexpr char* PROVIDER_SEGMENT_NAME = "PriorKnowledgeData";