diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3a4902c6d8abc0c4f29442364abd8d820d95ebfb..2185d2cc3a7ead117712b3c0ba01f57eb76ee6dc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,7 @@ depends_on_armarx_package(ArmarXGui)
find_package(DMP QUIET)
find_package(OpenCV QUIET)
find_package(IVT COMPONENTS ivt ivtopencv QUIET)
+find_package(manif QUIET)
add_subdirectory(source)
diff --git a/README.md b/README.md
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..e355791ca5849b535672904a4c313e47d16c14f5 100644
--- a/README.md
+++ b/README.md
@@ -0,0 +1,5 @@
+# RobotAPI
+
+## Documentation
+
+[Wiki](docs)
diff --git a/docs/README.md b/docs/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..090ef176fc179e5adb7d27857b0fe9933928c0b0
--- /dev/null
+++ b/docs/README.md
@@ -0,0 +1,3 @@
+[Aron](aron)
+
+[ArMem](armem)
diff --git a/docs/armem/README.md b/docs/armem/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..1742eec0abd08fe86b0724828722338718348fd5
--- /dev/null
+++ b/docs/armem/README.md
@@ -0,0 +1,3 @@
+* [Introduction](introduction)
+* [Existing Memories (Memory Servers)](existing_memory_servers_and_segments)
+* [How to create a new Core Segment or Memory Server](how_to_create_a_new_core_segment_or_memory_server)
diff --git a/docs/armem/existing_memory_servers_and_segments/README.md b/docs/armem/existing_memory_servers_and_segments/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..edc04ab4a3eda6652d59f2356687aa70d34a3db1
--- /dev/null
+++ b/docs/armem/existing_memory_servers_and_segments/README.md
@@ -0,0 +1,96 @@
+This is a list of existing memory servers, their core segments and their ARON data types.
+
+# `RobotState`
+
+* Memory Server: [`RobotStateMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/tree/master/source/RobotAPI/components/armem/server/RobotStateMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|-------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------|-------------------------|
+| `Description` | [RobotDescription](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml) | Robot description (e.g. link to XML or URDF file) | |
+| `Proprioception` | ToDo | Robot configuration and internal sensor values. | tbd |
+| [`Localization`](RobotState/Localization) | [Transform](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_robot_localization/aron/Transform.xml) | Transformations between frames {world,map,robot} to retrieve global robot pose. | armarx::aron::Transform |
+
+Missing:
+- Robot calibration: should be part of `Description` core segment
+
+# `Object`
+
+* Memory Server: [`ObjectMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/components/armem/server/ObjectMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|-----------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------|-----------------------------------------------------|
+| `Class` | [ObjectClass](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_objects/aron/ObjectClass.xml) | Static description of a known object class. Entity names are (ArmarXObjects) object IDs. | `KIT/CoffeeFilters`, `YCB/001_chips_can` |
+| `Instance` | [ObjectInstance](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml) | Localized object instance. Entity names are (ArmarXObjects) object IDs. | `KIT/CoffeeFilters`, `YCB/001_chips_can/instance_1` |
+| `ArticulatedObjectClass` | [RobotDescription](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_robot/aron/RobotDescription.xml) | Static description of a known object class. Entity names are (ArmarXObjects) object IDs. | |
+| `ArticulatedObjectInstance` | [Robot](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_robot/aron/Robot.xml) | Localized object instance. Entity names are (ArmarXObjects) object IDs. | |
+| `Attachments` | [ObjectAttachment and ArticulatedObjectAttachment](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem_objects/aron/Attachment.xml) | | |
+
+
+# `Vision`
+
+* Memory Server: [`ArMemVisionMemory` (VisionX)](https://git.h2t.iar.kit.edu/sw/armarx/visionx/-/tree/master/source/VisionX/components/armem/ArMemVisionMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|-------------------|--------------------------------------------------------------------------------------------------------------------------------|-------------------------------------------|------------------|
+| `ImageRGB` | [`ImageRGB`](https://git.h2t.iar.kit.edu/sw/armarx/visionx/-/blob/master/source/VisionX/libraries/ArMem/aron/ImageRGB.xml) | RGB images (mono and stereo) of a camera | image |
+| `ImageDepth` | [`ImageDepth`](https://git.h2t.iar.kit.edu/sw/armarx/visionx/-/blob/master/source/VisionX/libraries/ArMem/aron/ImageDepth.xml) | Depth images of an RGB-D or stereo camera | image |
+
+
+
+# `Speech`
+
+* Memory Server: [`SpeechMemory` (SpeechX)](https://git.h2t.iar.kit.edu/sw/armarx/speechx/-/tree/master/source/SpeechX/components/SpeechMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|-------------------------|-----------------|---------------------------------------------------------------------------|------------------|
+| `Command` | `SpeechCommand` | Language commands from speech (topic `Speech_Commands`). | `command` |
+| `TextListenerInterface` | `Text` | Data from `TextListenerInterface` topics. (`TextToSpeech`, `RobotAction`) | `text` |
+
+...
+
+
+# `Skills`
+
+* Memory Server: [`SkillsMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/tree/master/source/RobotAPI/components/armem/server/SkillsMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|-------------------|--------------|-------------------------------------|------------------|
+| `Statechart` | `Transition` | Transitions in ArmarX state charts. | tbd |
+
+
+# `GeneralPurpose`
+
+This memory is meant to allow for a quick-and-dirty integration of your data type in the memory framework. When your development finishes a stable state, consider creating moving the core segment(s) to an existing memory server or creating a new dedicated memory server.
+
+* Memory Server: [`GeneralPurposeMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/tree/master/source/RobotAPI/components/armem/server/GeneralPurposeMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|----------------------------------------|------|-------------|------------------|
+| None. You can add segments on the fly. | | | |
+
+# `Mapping`
+
+* Memory Server: `ToDo`
+* Core Segments:
+
+| Core Segment Name | <br/>Type | Description | Example Entities |
+|---------------------------------|-----------|--------------------------------------------------|------------------|
+| [`Mapping`](RobotState/Mapping) | `ToDo` | Mapping related sensor data (e.g. point clouds). | tbd |
+
+
+# `Example`
+
+An example memory server (alongside a matching client) showing how to implement a standard memory server and test the framework during development.
+
+* Memory Server: [`ExampleMemory` (RobotAPI)](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/tree/master/source/RobotAPI/components/armem/server/ExampleMemory)
+* Core Segments:
+
+| Core Segment Name | Type | Description | Example Entities |
+|-------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------|--------------------|------------------|
+| `ExampleData` | [ExampleData](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml) | Some example data. | example |
\ No newline at end of file
diff --git a/docs/armem/existing_memory_servers_and_segments/RobotState/Localization/README.md b/docs/armem/existing_memory_servers_and_segments/RobotState/Localization/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..fe8ac7af138bca553c7a80c3683ff74db0156c90
--- /dev/null
+++ b/docs/armem/existing_memory_servers_and_segments/RobotState/Localization/README.md
@@ -0,0 +1,36 @@
+# The localization segment within the RobotState memory
+
+## Concept
+
+There exist various frames that are needed to obtain the robot's global pose (pose within in the global frame):
+
+* [global] the "world" frame.
+* [map] During mapping, the robot does not have knowledge about the world but creates a local map (with "map" as root frame). All map features (e.g. point clouds, occupancy grids, ...) are linked to this frame.
+* [odom] The odometry as an integration of the robot's velocity.
+* [robot] The robot's root frame
+
+
+
+For each transformation between frames, there exist individual components:
+
+* [global->map] **Map registration:** given a scene (objects with known poses, e.g. walls, ...), this component obtains a static transformation between a the scene and the map.
+* [map->odom] **Localization** The localization component computes the transformation [map->robot] and performs map corrections by updating [map->odom].
+* [odom->robot] **Odometry**
+
+
+### Memory design
+
+Within the core segment, each robot has its own provider segment (here: Armar6). Within the provider segment, entities describe the transformations between the frames ("Global,Map" -> [global->map]).
+
+
+
+### Using the localization memory
+
+See **RobotAPI/libraries/armem_robot_localization**
+
+There exist two classes:
+
+* TransformWriter to send transformations to memory
+* TransformReader to obtain transformations between any of the frames; can also be used to obtain the "robot's global pose"
+
+For an example, see RobotComponents/components/carographer_mapping_and_localization (currently branch feature/cartographer_integration)
diff --git a/docs/armem/existing_memory_servers_and_segments/RobotState/Localization/res/frames.png b/docs/armem/existing_memory_servers_and_segments/RobotState/Localization/res/frames.png
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diff --git a/docs/armem/existing_memory_servers_and_segments/RobotState/Localization/res/localization-armem.png b/docs/armem/existing_memory_servers_and_segments/RobotState/Localization/res/localization-armem.png
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diff --git a/docs/armem/existing_memory_servers_and_segments/RobotState/Mapping/README.md b/docs/armem/existing_memory_servers_and_segments/RobotState/Mapping/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..167e058d44b78ebec0f59d97c2dc4f7ffc7eef72
--- /dev/null
+++ b/docs/armem/existing_memory_servers_and_segments/RobotState/Mapping/README.md
@@ -0,0 +1,9 @@
+# The mapping segment within the RobotState memory
+
+## Concept
+
+Within the memory segment, sensor data is stored that is relevant for
+* mapping
+* map registration
+
+
diff --git a/docs/armem/existing_memory_servers_and_segments/RobotState/Mapping/res/transformations_frames-Page-2.png b/docs/armem/existing_memory_servers_and_segments/RobotState/Mapping/res/transformations_frames-Page-2.png
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diff --git a/docs/armem/how_to_create_a_new_core_segment_or_memory_server/README.md b/docs/armem/how_to_create_a_new_core_segment_or_memory_server/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..9aaf1d9795a9ea38ae6414dc39ad03566f9f13da
--- /dev/null
+++ b/docs/armem/how_to_create_a_new_core_segment_or_memory_server/README.md
@@ -0,0 +1,393 @@
+In order to make a new type of data available in the memory system, you first need to create an ARON XML file. Please refer to [Aron/CodeGeneration](Aron/CodeGeneration) if you want to know how to do so.
+
+[[_TOC_]]
+
+<!--
+# Define your data type in ARON
+
+Consider you want to use a data type called `MyData` (in the namespace `armarx::mydata`) in the memory system. First, you need to describe it in ARON.
+
+- Choose a library in an ArmarX package where your data type will be defined (or create a new one). Here, we will call it `MyDataLib`.
+- In the directory `MyDataLib/`, create a directory `aron/` (if necessary). Inside, add a file `MyData.xml`. The directory structure should now look like this:
+
+```plaintext
+.../libraries/
+- MyDataLib/
+ - CMakeLists.txt
+ - ...
+ - aron/
+ - MyData.xml
+```
+
+- In the `CMakeLists.txt`, add or extend after the definition of the target (e.g. through add_library or add_component):
+
+```cmake
+armarx_enable_aron_file_generation_for_target(
+ TARGET_NAME
+ ${LIB_NAME}
+ ARON_FILES
+ aron/MyData.xml
+)
+```
+
+- Define your data in ARON. A hello world example could look like this:
+
+```xml
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ </CodeIncludes>
+ <AronIncludes>
+ </AronIncludes>
+ <GenerateTypes>
+
+ <Object name="armarx::mydata::arondto::MyData">
+
+ <ObjectChild key="helloWorld">
+ <String />
+ </ObjectChild>
+
+ </Object>
+
+ </GenerateTypes>
+</AronTypeDefinition>
+```
+
+Note:
+
+- `<Object>` defines a new ARON object type (generating a C++ class) containing a number of children.
+- `<ObjectChild>` defines a child (generating a public member variable of the generated C++ class, with `key` specifying the member's name).
+- `<String />` inside a `<ObjectChild>` defines the type of the child. It can be a number of primitive types, or fully qualified names of other ARON objects.
+
+Conventions:
+
+- Put your ARON object type into a `arondto::` namespace inside your usual namespace (e.g., `armarx::mydata::arondto::MyData`), where "DTO" stands for "Data Transfer Object". This way, you can define or use a custom or existing C++ type with more methods/intelligence in the usual namespace in your business logic code (e.g. `armarx::mydata::MyData`).
+
+Here is an example of an ARON object representing the business object (BO) type `simox::OrientedBox`:
+
+```xml
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ <Include include="<Eigen/Geometry>" />
+ </CodeIncludes>
+ <GenerateTypes>
+
+ <Object name="simox::arondto::OrientedBox">
+ <ObjectChild key='center'>
+ <Position />
+ </ObjectChild>
+ <ObjectChild key='orientation'>
+ <Orientation />
+ </ObjectChild>
+ <ObjectChild key='extents'>
+ <Position />
+ </ObjectChild>
+
+ </Object>
+
+ </GenerateTypes>
+</AronTypeDefinition>
+```
+
+Note:
+
+- (At the moment), you need to specify `<CodeIncludes>` to Eigen to use `Pose`, `Position` and `Orientation` (which are translated to `Eigen::Matrix4f`, `Eigen::Vector3f`, and `Eigen::Quaternionf` in C++).
+
+If you want to use an ARON object type defined in another file, this could look like this:
+
+```xml
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ <Include include="<RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.aron.generated.h>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.aron.generated.h>" />
+ <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectID.aron.generated.h>" />
+ <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectNames.aron.generated.h>" />
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
+ </CodeIncludes>
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/aron/common/aron/AxisAlignedBoundingBox.xml>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/OrientedBox.xml>" />
+ <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.xml>" />
+ <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectID.xml>" />
+ <Include include="<RobotAPI/libraries/ArmarXObjects/aron/ObjectNames.xml>" />
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
+ </AronIncludes>
+ <GenerateTypes>
+
+ <Object name="armarx::armem::arondto::ObjectClass">
+
+ <ObjectChild key="id">
+ <armarx::arondto::ObjectID />
+ </ObjectChild>
+
+ <ObjectChild key="simoxXmlPath">
+ <armarx::arondto::PackagePath />
+ </ObjectChild>
+
+ <ObjectChild key="meshWrlPath">
+ <armarx::arondto::PackagePath />
+ </ObjectChild>
+
+ <ObjectChild key="meshObjPath">
+ <armarx::arondto::PackagePath />
+ </ObjectChild>
+
+ <ObjectChild key="aabb">
+ <simox::arondto::AxisAlignedBoundingBox />
+ </ObjectChild>
+ <ObjectChild key="oobb">
+ <simox::arondto::OrientedBox />
+ </ObjectChild>
+
+ <ObjectChild key="names">
+ <armarx::arondto::ObjectNames />
+ </ObjectChild>
+
+ </Object>
+
+ </GenerateTypes>
+</AronTypeDefinition>
+```
+
+Note:
+
+- You need to include other ARON files in `<AronIncludes>`. The paths have the same form as usual C++ includes and point to the ARON XML files.
+- At the moment, you also have to `<CodeInclude>` the respective generated headers (`.../MyData.aron.generated.h`). These should be generated automatically in the future.
+
+# (Optional) Add conversions to existing (potentially more intelligent) C++ types
+
+Consider the case of `simox::OrientedBoxf` and `simox::arondto::OrientedBox`. The former is the business object (BO), used in daily business logic code (as it offers useful methods to construct and manipulate it). The latter is a mere data storage used to transfer the data, which is called a data transfer object (DTO).
+
+Therefore, you usually want to convert a `simox::arondto::OrientedBox` to a `simox::OrientedBoxf` as soon as you want to do things other than passing it around over network (e.g., at the beginning of a component method or after reading it from the working memory). Likewise, you want to convert a `simox::OrientedBoxf` to a `simox::arondto::OrientedBox` when you send the information over network or store it in the memory.
+
+To allow this conversion, follow these steps:
+
+- In your library, add a file pair `aron_conversions.{h, cpp}` next to your `aron/` directory and add them to the `CMakeLists.txt`
+- In the header, declare functions following this form:
+
+```cpp
+#pragma once
+
+#include <SimoxUtility/shapes/OrientedBox.h>
+#include <RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>
+
+
+namespace simox
+{
+ void fromAron(const arondto::OrientedBox& dto, OrientedBoxf& bo);
+ void toAron(arondto::OrientedBox& dto, const OrientedBoxf& bo);
+}
+```
+
+Note:
+
+- Both functions take the DTO first and the BO second.
+- `fromAron()` takes a `const` DTO and a `non-const` BO.
+- `toAron()` takes a `non-const` DTO and a `const` BO.
+- All arguments are passed as reference (especially the `non-const` arguments).
+- The functions are defined in the BO's namespace (`simox` in this example, `armarx::mydata` in the running example).
+
+
+* In the cpp file, define the functions like this:
+
+```cpp
+#include "aron_conversions.h"
+
+// Include this and use armarx::aron::to/fromAron() for std::vector, std::map.
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
+
+// Include other aron_conversions.h files for other ARON types
+
+
+void simox::fromAron(const arondto::OrientedBox& dto, OrientedBoxf& bo)
+{
+ bo = OrientedBoxf(dto.center, dto.orientation, dto.extents);
+}
+
+void simox::toAron(arondto::OrientedBox& dto, const OrientedBoxf& bo)
+{
+ dto.center = bo.center();
+ dto.orientation = bo.rotation();
+ dto.extents = bo.dimensions();
+}
+```
+
+Note:
+
+- The implementation depends on your data. It might be as simple as copying all members, or require more complex conversions. Especially, you might use `fromAron()` for `toAron()` for other ARON object types.
+
+-->
+
+# Create a new memory server
+
+> **Note:** If you plan to extend an existing memory server, you can skip this step.
+
+If your data should be stored in a new memory server, follow these steps:
+
+Create a new component, let's say `MyMemory`:
+
+```plaintext
+# In the root directory of your ArmarX package:
+armarx-package add component MyMemory
+```
+
+Then, extend the new component by the respective component plugin.
+
+Add the include:
+
+```cpp
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
+
+// Or:
+#include <RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h>
+```
+
+Make the component derive from the component plugin user:
+
+```cpp
+ class MyMemory :
+ virtual public armarx::Component
+ // v Add this line ... v
+ , virtual public armarx::armem::server::ReadWritePluginUser
+ // v ... or this line ... v
+ , virtual public armem::server::ReadOnlyPluginUser
+```
+
+Don't forget to add the respective library to your `CMakeLists.txt`:
+
+```cmake
+set(COMPONENT_LIBS
+ ...
+ # Add this:
+ armem
+ ...
+)
+```
+
+**If the component already implements an ice interface,** you have to add the memory server into face to it (otherwise, you will receive `no unique final overrider for 'virtual function ...'` errors by the compiler):
+```cpp
+// memory_tutorial/source/memory_tutorial/components/object_memory/ComponentInterface.ice
+
+#pragma once
+
+// v either include this one (read-write) v
+#include <RobotAPI/interface/armem/server/MemoryInterface.ice>
+// v or this one (read-only) v
+// #include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
+
+
+module memory_tutorial { module components { module object_memory
+{
+
+ interface ComponentInterface
+ // v either extend from this one (read-write) v
+ extends armarx::armem::server::MemoryInterface
+ // v or this one (read-only) v
+ // extends armarx::armem::server::ReadingMemoryInterface
+ {
+ ...
+ };
+
+};};};
+```
+
+In this case, make sure `RobotAPIInterfaces` is in the Ice dependencies of your ice library:
+```cmake
+armarx_add_component(object_memory
+ ICE_FILES
+ ComponentInterface.ice
+ ICE_DEPENDENCIES
+ ...
+ RobotAPIInterfaces
+ ...
+```
+
+
+You can set the memory name of the memory server in the `createPropertyDefinitions()`:
+
+```cpp
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+
+...
+
+ armarx::PropertyDefinitionsPtr MyMemory::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+ ...
+
+ // Set the memory name:
+ workingMemory().name() = "My";
+
+ ...
+ return defs;
+ }
+```
+
+**Note:**
+
+* The `ReadWritePluginUser` implements the ice interface `MemoryInterface`, which combines, among others, the `ReadingMemoryInterface` and the `WritingMemoryInterface`.
+* The `ReadOnlyPluginUser` only implements the `ReadingMemoryInterface`.
+* Both provide a working memory data storage `workingMemory()` (of type `armem::server::wm::Memory`) and an `iceAdapter()` (`armem::server::MemoryToIceAdapter`).
+
+That's it: Your component is now a memory server.
+
+# Add a core segment with your new data type in a memory server
+
+> Wait, how does the new memory server know of my specially written ARON type?
+
+Oh right, it doesn't. At least not yet. But this is easy to fix: We just have to add a core segment.
+
+> What on earth is a core segment?
+
+A _segment_ is a section of a memory (server) containing data of a specific type, i.e. they are homogeneous data containers (in contrast to heterogeneous, which would mean they contain different kinds of data) (see the [Introduction](ArMem/Introduction)).
+
+There are two kinds of segments: _core_ segments, and _provider_ segments:
+
+* **Core segments** are usually added by the memory server itself with a name and the ARON data type the core segment is going to keep.
+* **Provider segments** are usually added by clients committing data to the memory. You can think of them as "sub-segments" of a (core) segment, providing a namespace for the provider's entities and some additional features.
+
+> ... what?
+
+Just stick with me, you'll get used to it.
+
+> Okay ... but how does the memory add the ... core segment?
+
+A fine question! Luckily, that's very simple. All we need is your ARON type, a name and the working memory data structure.
+
+> ...
+
+Okay, okay, I'll come to the code. Adding a core segment merely alters a local data structure (it is not an ice/network operation). Thus, we can do it in `onInitComponent()`:
+
+```cpp
+ void MyMemory::onInitComponent()
+ {
+ workingMemory().addCoreSegment("Data", armarx::mydata::arondto::MyData::toAronType());
+ }
+```
+
+* `workingMemory()` is a function provided by the component plugin user (`ReadWritePluginUser` or `ReadOnlyPluginUser`) returning a reference to the working memory data of the type `armem::server::wm::Memory`.
+* `addCoreSegment()` adds a core segment. It takes a name and (optionally) an ARON type.
+* `"Data"` is the name of the core segment.
+ * It should refer to a modality or concept, not to its elements (i.e. prefer "Instance" over "Instances" and "Location" over "Locations").
+ * Also, try to avoid repeating the memory name, as the core segment's ID is prepended by the memory name anyway (e.g. "Object/Instance" over "Object/ObjectInstance" and "Navigation/Location" over "Navigation/NavigationLocation").
+* `armarx::mydata::arondto::MyData` is the C++ class generated from your `MyData.xml` ARON XML description file.
+ * `::toAronType()` creates a runtime type object describing the ARON type. This allows, e.g., the `MemoryViewer` GUI to show the data in a suitable manner (e.g. a pose as an affine transformation instead of a 4x4 matrix).
+ * Of course, you need to include the respective header: It's located at the same path where your XML is. For example, for the `ObjectInstance.xml` located at `RobotAPI/libraries/armem_objects/aron/ObjectInstance.xml`, the include would be:
+
+```cpp
+#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.h>
+```
+
+Note that you need to include the `.h` file, not the `.xml`. As the generated class is header-only, you do not need to link any libraries in your `CMakeLists.txt`.
+
+When you now start your new memory server and the MemoryNameSystem (MNS) (e.g. using the scenario _ArMemCore_ in RobotAPI), and open the _MemoryViewer_ gui plugin, you should see an entry for your memory (`My`) and the core segment (`Data` under `My`).
+
+# Conclusion
+
+That's it! You now have a memory server providing a place where your nice and interesting data can feel welcome, and where interested listeners would look to find it.
+
+[Next, we learn how to commit data to the memory, and query data from the memory.](ArMem/How-to-read-from-and-write-to-a-Memory-Server)
\ No newline at end of file
diff --git a/docs/armem/introduction/README.md b/docs/armem/introduction/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..43f2e3ac5e1b169c900f5793875bc5788a79c37a
--- /dev/null
+++ b/docs/armem/introduction/README.md
@@ -0,0 +1,42 @@
+# Distributed Memory
+
+The ArMem memory system is distributed: It is comprised of several **memory servers** storing data in a hierarchical structure.
+A memory server can be defined in any ArmarX package and defines which kind of data it stores (e.g. robot state, object classes and instances, visual data, speech, ...).
+As a memory server knows which data it stores, it can provide special behaviour, such as custom visualization, aggregation, interpolation or prediction.
+As each server is a separate component describing its own structure, it is simple to add new memory servers containing special data types, which are defined in ArmarX packages further down in the dependency chain.
+
+All memory servers follow the same hierarchical data structure and self-describing data format.
+The data structure consists of several levels, storing histories/timelines of different entities stored in different segments (see "Memory Levels" below).
+The common data format is ARON (ArmarX Object Notation), which is a self-describing, hierarchical data format, allowing extensive introspection as well as general storage.
+Each item in the memory (i.e. entries in all levels) can be identified with a **Memory ID**, which contains the keys of each (specified) level. For example, a core segment ID specifies the memory name and core segment name, while an entity instance ID specifies the whole path to the leaf of the data structure.
+
+
+Technically, each memory server is one ArmarX component implementing the `armem::server::MemoryInterface` (comprising a `ReadingMemoryInterface` and a `WritingMemoryInterface`).
+Memory servers register themselves in the **Memory Name System (MNS)**, where they can be found by their (semantic) memory name (which is usually a short, human-readable name such as "Robot", "Object" or "Vision").
+Memory servers receive data via **commits** (via the `WritingMemoryInterface`), and return data according to **queries** (via the `ReadingMemoryInterface`).
+
+
+# Memory Levels
+
+A memory server stores data in a hierarchical structure consisting of several levels:
+```
+- Grasping (Memory)
+ - Grasps (Core Segment)
+ - KnownObjectGraspPlanner (Provider Segment)
+ - my_object (Entity)
+ - t = 2021-03-09 14:24:20.064524 (Entity Snapshot)
+ - 00 (Entity Instance)
+ - 01 (Entity Instance)
+ - 02 (Entity Instance)
+```
+
+| Level | Key | Description | Examples | Implementation |
+| ----- | --- | ----------- | -------- | -------------- |
+| Memory | Name (String) | Semantic grouping of one or more core segments. Corresponds to one memory server. | Robot, Object, Vision | [Memory](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/Memory.h) |
+| Core Segment | Name (String) | Building block of a memory containing homogeneous data of a specific (ARON) type. Specifies a _Core Segment Type_ which all provided data must comply to. | (Robot) Configuration, (Object) Classes, Known (Object) Instances, ImageRGB | [CoreSegment](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/CoreSegment.h) |
+| Provider Segment | Name (String) | Sub-segment of a core segment which contains the data from a single source (e.g. a camera, a method, a component). Can define a _Provider Segment Type_ which extends the _Core Segment Type_. | Primsense, SimTrack, MyGraspPlanner | [ProviderSegment](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/ProviderSegment.h) |
+| Entity | Name (String) | A single thing or concept whose properties change over time. An entity has a history / timeline, i.e. a sequence of snapshots storing the entity's properties at a specific point in time. | `image`, `some_object`, `some_object_grasps` | [Entity](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/Entity.h) |
+| Entity Snapshot | Timestamp (`armem::Time` aka `IceUtil::Time`) | An entry of an entity's history, i.e. the state of an entity at a specific point in time. Can contain multiple (entitiy) instances. | Image, object instance, grasp hypotheses at a time *t* | [EntitySnapshot](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/EntitySnapshot.h) |
+| Entity Instance | Index (int) | One instance of the segment's ARON type. | left/right stereo image (at time t), object (at time t), grasp hypothesis (one of many at time t) | [EntityInstance](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/EntityInstance.h) |
+| Entity Instance Metadata | -- | Metadata stored alongside the instance's data. | Further timesteps, confidence | [EntityInstanceMetadata](https://git.h2t.iar.kit.edu/sw/armarx/robot-api/-/blob/master/source/RobotAPI/libraries/armem/core/EntityInstance.h) |
+
diff --git a/docs/aron/README.md b/docs/aron/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..daff059aabe7c576936c41e30789b87fc63c6b1c
--- /dev/null
+++ b/docs/aron/README.md
@@ -0,0 +1,4 @@
+* [Introduction](introduction)
+* [Code Generation](code_generation)
+* [Visitors](visitors)
+* [Readers, Writers and Conversion](conversion)
diff --git a/docs/aron/code_generation/README.md b/docs/aron/code_generation/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..a48594a45348e392a3d074ccb752c94c7ead9b2d
--- /dev/null
+++ b/docs/aron/code_generation/README.md
@@ -0,0 +1,733 @@
+[[_TOC_]]
+
+# Aron Type Reading
+
+As already mention in the introduction, aron supports code generation in order to create a c++ (other languages also possible) class with plain c++ members which you can use for convenience. Further, the generated class offers methods to convert itself to a Aron object and to set the members from a Aron object. Code generation only makes sense for Aron data, however we need an Aron type specification in order to generate the class.
+
+In the following we will describe how to specify Aron types in XML and how the generated code looks like.
+
+
+## XML type description and creation
+
+In order to make Aron generate a c++ class for you, you first have to tell the program how the object should look like. Second you need to add the file to cmake in order to create the code generation target.
+
+### XML type description
+
+Consider you want to use a data type called `MyData` (in the namespace `armarx::mydata`).
+* Choose a library in an ArmarX package where your data type will be defined (or create a new one). Here, we will call it `MyDataLib`.
+* In the directory `MyDataLib/`, create a directory `aron/` (if necessary). Inside, add a file `MyData.xml`. The directory structure should now look like this:
+
+```
+.../libraries/
+- MyDataLib/
+ - CMakeLists.txt
+ - ...
+ - aron/
+ - MyData.xml
+```
+
+Then start defining your data in ARON. A hello world example could look like this:
+```xml
+<!-- MyData containing a helloWorld member -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ </CodeIncludes>
+ <AronIncludes>
+ </AronIncludes>
+ <GenerateTypes>
+ <Object name="armarx::mydata::arondto::MyData">
+ <ObjectChild key="helloWorld">
+ <String />
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
+```
+
+Every type specification must have the top-level-tag `AronTypeDefinition` and must at least define one type in `GenerateTypes`. In the `GenerateTypes`-tag you can add as many `Object` or `IntEnum` definitions as you want. `<Object>` defines a new ARON object type (generating a C++ class) containing a number of children. Inside the `Object`-tag you can add as many members as you want through the `ObjectChild`-tag (generating a public member variable of the generated C++ class, with `key` specifying the member's name). If a member should be e.g. optional you have to add the attribute `optional="true"` to the member:
+```xml
+ <ObjectChild key="helloWorld">
+ <String optional="true" />
+ </ObjectChild>
+```
+The same way you can define `raw_ptr`, `shared_ptr` or `unique_ptr` members.
+
+Conventions:
+- Put your ARON object type into a `arondto::` namespace inside your usual namespace (e.g., `armarx::mydata::arondto::MyData`), where "DTO" stands for "Data Transfer Object". This way, you can define or use a custom or existing C++ type with more methods/intelligence in the usual namespace in your business logic code (e.g. `armarx::mydata::MyData`).
+
+If you want to use a definition of another Aron file, you can include the file using the `AronIncludes`-section. Simply add the files you want to include using a `include`-tag:
+```xml
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/aron/common/aron/PackagePath.xml>" autoinclude="true" />
+ ...
+ </AronIncludes>
+```
+The option `autoinclude` automatically adds the generated class of the Aron xml file to the c++ class.
+
+After that, you can use the type definitions in your current xml file (you must specify the full namespace):
+```xml
+ <ObjectChild key="referenceToMemoryID">
+ <armarx::arondto::PackagePath />
+ </ObjectChild>
+```
+
+(At the moment), you need to specify `<CodeIncludes>` to Eigen to use `Pose`, `Position` and `Orientation` (which are translated to `Eigen::Matrix4f`, `Eigen::Vector3f`, and `Eigen::Quaternionf` in C++). In that section, you can add includes in your target language (right now only C++), e.g.:
+```xml
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ </CodeIncludes>
+```
+
+If you do not need the `CodeIncludes` and `AronIncludes` you can remove these tags.
+
+### Examples
+
+In the following we define a class that uses all more complex types once:
+```xml
+<!-- MyData containing all accepted members once -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ <Include include="<Eigen/Core>" />
+ <Include include="<Eigen/Geometry>" />
+ <Include include="<pcl/point_cloud.h>" />
+ <Include include="<pcl/point_types.h>" />
+ <Include include="<opencv2/core/core.hpp>" />
+ </CodeIncludes>
+ <GenerateTypes>
+ <IntEnum name="TheIntEnum">
+ <EnumValue key="INT_ENUM_VALUE_0" value="0" />
+ <EnumValue key="INT_ENUM_VALUE_1" value="1" />
+ <EnumValue key="INT_ENUM_VALUE_2" value="2" />
+ <EnumValue key="INT_ENUM_VALUE_3" value="3" />
+ <EnumValue key="INT_ENUM_VALUE_4" value="4" />
+ <EnumValue key="INT_ENUM_VALUE_5" value="5" />
+ <EnumValue key="INT_ENUM_VALUE_6" value="6" />
+ <EnumValue key="INT_ENUM_VALUE_7" value="7" />
+ <EnumValue key="INT_ENUM_VALUE_8" value="8" />
+ </IntEnum>
+
+ <Object name="armarx::mydata::arondto::MyData">
+ <objectchild key="the_int_enum">
+ <TheIntEnum />
+ </objectchild>
+
+ <ObjectChild key="the_dict">
+ <Dict>
+ <Float />
+ </Dict>
+ </ObjectChild>
+
+ <ObjectChild key='the_list'>
+ <List>
+ <Float />
+ </List>
+ </ObjectChild>
+
+ <ObjectChild key='the_short_matrix'>
+ <Matrix rows="5" cols="7" type="int16" />
+ </ObjectChild>
+
+ <ObjectChild key='the_double_quaternion'>
+ <Quaternion type="float64" />
+ </ObjectChild>
+
+ <ObjectChild key='the_position'>
+ <Position />
+ </ObjectChild>
+
+ <ObjectChild key='the_orientation'>
+ <Orientation />
+ </ObjectChild>
+
+ <ObjectChild key='the_pose'>
+ <Pose />
+ </ObjectChild>
+
+ <ObjectChild key='the_rgb24_image'>
+ <Image type="rgb24" />
+ </ObjectChild>
+
+ <ObjectChild key='the_xyzrgb_pointcloud'>
+ <PointCloud type="PointXYZRGB" />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
+```
+
+### CMake specification
+
+In the `CMakeLists.txt`, add or extend after the definition of the target (e.g. through add_library or add_component):
+
+```cmake
+armarx_enable_aron_file_generation_for_target(
+ TARGET_NAME
+ ${LIB_NAME}
+ ARON_FILES
+ aron/MyData.xml
+)
+```
+
+### Important changes
+
+- I changed the xml type reader so that embedded classes are not allowed anymore! Before that you were able to define a new class inside an existing one, e.g.:
+```xml
+<!-- MyData containing a helloWorld member -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <GenerateTypes>
+ <Object name="armarx::mydata::arondto::MyData">
+ <ObjectChild key="helloWorld">
+ <Object name="armarx::mydata::arondto::MyOtherData">
+ ...
+ </Object>
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
+```
+This is not supported anymore!
+
+## Full example
+
+Say you have the following Aron XML type description:
+```xml
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <GenerateTypes>
+ <IntEnum name="armarx::NaturalIKControlMode">
+ <EnumValue key="CONTROL_MODE_0" value="0" />
+ <EnumValue key="CONTROL_MODE_1" value="1" />
+ <EnumValue key="CONTROL_MODE_2" value="2" />
+ </IntEnum>
+
+ <Object name='armarx::NaturalIKResult'>
+ <ObjectChild key='control_mode'>
+ <armarx::NaturalIKControlMode />
+ </ObjectChild>
+
+ <ObjectChild key='reached'>
+ <Bool />
+ </ObjectChild>
+
+ <ObjectChild key='jointValues'>
+ <List>
+ <Float />
+ </List>
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
+```
+
+The generated c++ file looks like:
+```cpp
+#pragma once
+
+#include <memory>
+#include <string>
+#include <vector>
+#include <map>
+#include <RobotAPI/interface/aron.h>
+#include <RobotAPI/libraries/aron/core/codegenerator/codewriter/cpp/AronCppClass.h>
+#include <RobotAPI/libraries/aron/core/data/rw/writer/variant/VariantWriter.h>
+#include <RobotAPI/libraries/aron/core/data/rw/reader/variant/VariantReader.h>
+#include <RobotAPI/libraries/aron/core/type/rw/writer/variant/VariantWriter.h>
+namespace armarx
+{
+ /**
+ ******************************************
+ * AUTOGENERATED CLASS. Please do NOT edit.
+ ******************************************
+ */
+ class NaturalIKControlMode
+ : public armarx::aron::codegenerator::cpp::AronCppClass
+ {
+ public:
+ /**
+ * The internal enum definition of the enum of this autogenerated class.
+ */
+ enum class ImplEnum
+ {
+ CONTROL_MODE_0,
+ CONTROL_MODE_1,
+ CONTROL_MODE_2,
+ }; // enum class ImplEnum
+
+ public:
+ using This = armarx::NaturalIKControlMode;
+ static constexpr ImplEnum CONTROL_MODE_0 = ImplEnum::CONTROL_MODE_0;
+ static constexpr ImplEnum CONTROL_MODE_1 = ImplEnum::CONTROL_MODE_1;
+ static constexpr ImplEnum CONTROL_MODE_2 = ImplEnum::CONTROL_MODE_2;
+ /// Mapping enum values to readable strings
+ const std::map<ImplEnum, std::string> EnumToStringMap = {
+ {ImplEnum::CONTROL_MODE_0, "CONTROL_MODE_0"},
+ {ImplEnum::CONTROL_MODE_1, "CONTROL_MODE_1"},
+ {ImplEnum::CONTROL_MODE_2, "CONTROL_MODE_2"},
+ };
+ /// Mapping readable strings to enum values
+ const std::map<std::string, ImplEnum> StringToEnumMap = {
+ {"CONTROL_MODE_0", ImplEnum::CONTROL_MODE_0},
+ {"CONTROL_MODE_1", ImplEnum::CONTROL_MODE_1},
+ {"CONTROL_MODE_2", ImplEnum::CONTROL_MODE_2},
+ };
+ /// Mapping enum values to a int value
+ const std::map<ImplEnum, int> EnumToValueMap = {
+ {ImplEnum::CONTROL_MODE_0, 0},
+ {ImplEnum::CONTROL_MODE_1, 1},
+ {ImplEnum::CONTROL_MODE_2, 2},
+ };
+ /// Mapping int values to a enum
+ const std::map<int, ImplEnum> ValueToEnumMap = {
+ {0, ImplEnum::CONTROL_MODE_0},
+ {1, ImplEnum::CONTROL_MODE_1},
+ {2, ImplEnum::CONTROL_MODE_2},
+ };
+ /// The current value of the enum object
+ ImplEnum value;
+
+ public:
+ NaturalIKControlMode()
+ {
+ resetHard();
+ }
+ NaturalIKControlMode(const armarx::NaturalIKControlMode& i)
+ : value(i.value)
+ {
+ }
+ NaturalIKControlMode(const ImplEnum e)
+ : value(e)
+ {
+ }
+
+ public:
+ /**
+ * @brief operator==() - This method checks whether all values equal another instance.
+ * @param i - The other instance
+ * @return - true, if all members are the same, false otherwise
+ */
+ bool operator==(const armarx::NaturalIKControlMode& i) const
+ {
+ if (not (value == i.value))
+ {
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * @brief resetHard() - This method resets member variables according to the XML type description.
+ * @return - nothing
+ */
+ virtual void resetHard() override
+ {
+ value = {};
+ }
+
+ /**
+ * @brief resetSoft() - This method resets all member variables with respect to the current parameterization.
+ * @return - nothing
+ */
+ virtual void resetSoft() override
+ {
+ value = {};
+ }
+
+ /**
+ * @brief writeType() - This method returns a new type from the class structure using a type writer implementation. This function is static.
+ * @return - the result of the writer implementation
+ */
+ template<class T>
+ static T writeType(armarx::aron::type::WriterInterface<T>& aron_w, armarx::aron::type::Maybe aron_maybeType = armarx::aron::type::Maybe::eNone, const armarx::aron::Path& aron_p = armarx::aron::Path())
+ {
+ //TODO:
+ std::map<std::string, int> aron_str2ValueMap;
+ return aron_w.writeIntEnum("armarx::NaturalIKControlMode", aron_str2ValueMap, aron_maybeType, aron_p);
+ }
+
+ /**
+ * @brief write() - This method returns a new type from the member data types using a data writer implementation.
+ * @param w - The writer implementation
+ * @return - the result of the writer implementation
+ */
+ template<class T>
+ T write(armarx::aron::data::WriterInterface<T>& aron_w, const armarx::aron::Path& aron_p = armarx::aron::Path()) const
+ {
+ return aron_w.writePrimitive(EnumToValueMap.at(value), aron_p); // of top level enum armarx::NaturalIKControlMode
+ }
+
+ /**
+ * @brief read() - This method sets the struct members to new values given in a data reader implementation.
+ * @param r - The reader implementation
+ * @return - nothing
+ */
+ template<class T>
+ void read(armarx::aron::data::ReaderInterface<T>& aron_r, T& input)
+ {
+ using TNonConst = typename std::remove_const<T>::type;
+ {
+ const TNonConst* _suppressUnusedWarning;
+ (void) _suppressUnusedWarning;
+ }
+ this->resetSoft();
+ if (aron_r.readNull(input))
+ {
+ throw armarx::aron::error::AronException(__PRETTY_FUNCTION__, "The input to the read method must not be null.");
+ }
+ int aron_tmpValue;
+ aron_r.readPrimitive(input, aron_tmpValue); // of top level enum armarx::NaturalIKControlMode
+ value = ValueToEnumMap.at(aron_tmpValue);
+ }
+
+ /**
+ * @brief toString() - Converts the internally stored value to string
+ * @return - the name of the enum
+ */
+ std::string toString() const
+ {
+ return EnumToStringMap.at(value);
+ }
+
+ /**
+ * @brief fromString() - sets the internally stored value to the corrsponding enum of the input str
+ * @return - nothing
+ */
+ void fromString(const std::string& str)
+ {
+ if (auto it = StringToEnumMap.find(str); it == StringToEnumMap.end())
+ {
+ throw armarx::LocalException("The input name is not valid. Could net set the enum to value '" + str + "'");
+ }
+ else
+ {
+ value = it->second;
+ }
+ }
+
+ /**
+ * @brief int() - Converts the internally stored value to int representation
+ * @return - the int representation
+ */
+ operator int() const
+ {
+ return EnumToValueMap.at(value);
+ }
+
+ /**
+ * @brief operator=() - Assignment operator for the internally defined enum
+ * @return - nothing
+ */
+ armarx::NaturalIKControlMode& operator=(ImplEnum v)
+ {
+ value = v;
+ return *this;
+ }
+
+ /**
+ * @brief operator=() - Assignment operator for copy
+ * @return - nothing
+ */
+ armarx::NaturalIKControlMode& operator=(const armarx::NaturalIKControlMode& c)
+ {
+ value = c.value;
+ return *this;
+ }
+
+ /**
+ * @brief operator=() - Assignment operator for the internally defined enum
+ * @return - nothing
+ */
+ armarx::NaturalIKControlMode& operator=(int v)
+ {
+ if (auto it = ValueToEnumMap.find(v); it == ValueToEnumMap.end())
+ {
+ throw armarx::LocalException("The input int is not valid. Could net set the enum to value '" + std::to_string(v) + "'");
+ }
+ else
+ {
+ value = it->second;
+ }
+ return *this;
+ }
+
+ }; // class NaturalIKControlMode
+} // namespace armarx
+
+namespace armarx
+{
+ /**
+ ******************************************
+ * AUTOGENERATED CLASS. Please do NOT edit.
+ ******************************************
+ */
+ class NaturalIKResult
+ : public armarx::aron::codegenerator::cpp::AronCppClass
+ {
+ public:
+ using This = armarx::NaturalIKResult;
+ armarx::NaturalIKControlMode control_mode;
+ std::vector<float> jointValues;
+ bool reached;
+
+ public:
+ NaturalIKResult()
+ {
+ resetHard();
+ }
+
+ public:
+ /**
+ * @brief operator==() - This method checks whether all values equal another instance.
+ * @param i - The other instance
+ * @return - true, if all members are the same, false otherwise
+ */
+ bool operator==(const armarx::NaturalIKResult& i) const
+ {
+ if (not (control_mode == i.control_mode))
+ {
+ return false;
+ }
+ if (not (jointValues == i.jointValues))
+ {
+ return false;
+ }
+ if (not (reached == i.reached))
+ {
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * @brief resetHard() - This method resets member variables according to the XML type description.
+ * @return - nothing
+ */
+ virtual void resetHard() override
+ {
+ control_mode.resetHard();
+ jointValues = std::vector<float>();
+ reached = bool();
+ }
+
+ /**
+ * @brief resetSoft() - This method resets all member variables with respect to the current parameterization.
+ * @return - nothing
+ */
+ virtual void resetSoft() override
+ {
+ control_mode.resetSoft();
+ jointValues.clear();
+ reached = bool();
+ }
+
+ /**
+ * @brief writeType() - This method returns a new type from the class structure using a type writer implementation. This function is static.
+ * @return - the result of the writer implementation
+ */
+ template<class T>
+ static T writeType(armarx::aron::type::WriterInterface<T>& aron_w, armarx::aron::type::Maybe aron_maybeType = armarx::aron::type::Maybe::eNone, const armarx::aron::Path& aron_p = armarx::aron::Path())
+ {
+ std::map<std::string, T> aron_objectMembers;
+ auto aron_objectExtends = std::nullopt;
+ // members of armarx::NaturalIKResult
+ auto aron_variant_control_mode = armarx::NaturalIKControlMode::writeType(aron_w, armarx::aron::type::Maybe::eNone, armarx::aron::Path(aron_p, {"control_mode"})); // of control_mode
+ aron_objectMembers.emplace("control_mode", aron_variant_control_mode);
+ auto aron_variant_jointValues_dot_accepted_type = aron_w.writeFloat(armarx::aron::type::Maybe::eNone, armarx::aron::Path(aron_p, {"jointValues", "::accepted_type"})); // of float
+ auto aron_variant_jointValues = aron_w.writeList(aron_variant_jointValues_dot_accepted_type, armarx::aron::type::Maybe::eNone, armarx::aron::Path(aron_p, {"jointValues"})); // of jointValues
+ aron_objectMembers.emplace("jointValues", aron_variant_jointValues);
+ auto aron_variant_reached = aron_w.writeBool(armarx::aron::type::Maybe::eNone, armarx::aron::Path(aron_p, {"reached"})); // of bool
+ aron_objectMembers.emplace("reached", aron_variant_reached);
+ return aron_w.writeObject("armarx::NaturalIKResult", aron_objectMembers, aron_objectExtends, aron_maybeType, aron_p); // of top level object armarx::NaturalIKResult
+ }
+
+ /**
+ * @brief write() - This method returns a new type from the member data types using a data writer implementation.
+ * @param w - The writer implementation
+ * @return - the result of the writer implementation
+ */
+ template<class T>
+ T write(armarx::aron::data::WriterInterface<T>& aron_w, const armarx::aron::Path& aron_p = armarx::aron::Path()) const
+ {
+ std::map<std::string, T> aron_objectMembers;
+ std::optional<T> aron_objectExtends;
+ // members of armarx::NaturalIKResult
+ auto aron_variant_control_mode = aron_w.writeNull();
+ aron_variant_control_mode = control_mode.write(aron_w, armarx::aron::Path(aron_p, {"control_mode"})); // of control_mode
+ aron_objectMembers.emplace("control_mode", aron_variant_control_mode);
+ auto aron_variant_jointValues = aron_w.writeNull();
+ std::vector<T> aron_variant_jointValues_listElements;
+ for(unsigned int aron_jointValues_it = 0; aron_jointValues_it < jointValues.size(); ++aron_jointValues_it)
+ {
+ auto aron_variant_jointValues_dot_at_lbrR_aron_jointValues_it_rbrR_ = aron_w.writeNull();
+ aron_variant_jointValues_dot_at_lbrR_aron_jointValues_it_rbrR_ = aron_w.writePrimitive(jointValues.at(aron_jointValues_it), armarx::aron::Path(aron_p, {"jointValues", std::to_string(aron_jointValues_it)})); // of jointValues.at(aron_jointValues_it)
+ aron_variant_jointValues_listElements.push_back(aron_variant_jointValues_dot_at_lbrR_aron_jointValues_it_rbrR_);
+ }
+ aron_variant_jointValues = aron_w.writeList(aron_variant_jointValues_listElements, armarx::aron::Path(aron_p, {"jointValues"})); // of jointValues
+ aron_objectMembers.emplace("jointValues", aron_variant_jointValues);
+ auto aron_variant_reached = aron_w.writeNull();
+ aron_variant_reached = aron_w.writePrimitive(reached, armarx::aron::Path(aron_p, {"reached"})); // of reached
+ aron_objectMembers.emplace("reached", aron_variant_reached);
+ return aron_w.writeDict(aron_objectMembers, aron_objectExtends, aron_p); // of top level object armarx::NaturalIKResult
+ }
+
+ /**
+ * @brief read() - This method sets the struct members to new values given in a data reader implementation.
+ * @param r - The reader implementation
+ * @return - nothing
+ */
+ template<class T>
+ void read(armarx::aron::data::ReaderInterface<T>& aron_r, T& input)
+ {
+ using TNonConst = typename std::remove_const<T>::type;
+ {
+ const TNonConst* _suppressUnusedWarning;
+ (void) _suppressUnusedWarning;
+ }
+ this->resetSoft();
+ if (aron_r.readNull(input))
+ {
+ throw armarx::aron::error::AronException(__PRETTY_FUNCTION__, "The input to the read method must not be null.");
+ }
+ std::map<std::string, TNonConst> aron_objectMembers;
+ aron_r.readDict(input, aron_objectMembers); // of top level object armarx::NaturalIKResult
+ control_mode.read<T>(aron_r, aron_objectMembers.at("control_mode"));
+ std::vector<TNonConst> aron_jointValues_listElements;
+ aron_r.readList(aron_objectMembers.at("jointValues"), aron_jointValues_listElements);
+ for (const auto& aron_jointValues_listValue : aron_jointValues_listElements)
+ {
+ float aron_jointValues_listTmp;
+ aron_r.readPrimitive(aron_jointValues_listValue, aron_jointValues_listTmp); // of aron_jointValues_listTmp
+ jointValues.push_back(aron_jointValues_listTmp);
+ }
+ aron_r.readPrimitive(aron_objectMembers.at("reached"), reached); // of reached
+ }
+
+ /**
+ * @brief toAron() - This method returns a new data from the member data types using a writer implementation.
+ * @return - the result of the writer implementation
+ */
+ armarx::aron::data::DictPtr toAron() const
+ {
+ armarx::aron::data::writer::VariantWriter writer;
+ return armarx::aron::data::Dict::DynamicCastAndCheck(this->write(writer));
+ }
+
+ /**
+ * @brief FromAron() - This method sets the struct members to new values given in a reader implementation.
+ * @return - nothing
+ */
+ static This FromAron(const armarx::aron::data::DictPtr& input)
+ {
+ This t;
+ t.fromAron(input);
+ return t;
+ }
+
+ /**
+ * @brief fromAron - This method sets the struct members to new values given in a reader implementation.
+ * @return - nothing
+ */
+ void fromAron(const armarx::aron::data::DictPtr& input)
+ {
+ armarx::aron::data::reader::VariantReader reader;
+ this->read<armarx::aron::data::reader::VariantReader::InputType>(reader, (input));
+ }
+
+ /**
+ * @brief toAronType() - This method returns a new type from the member data types using a writer implementation.
+ * @return - the result of the writer implementation
+ */
+ static armarx::aron::type::ObjectPtr toAronType()
+ {
+ armarx::aron::type::writer::VariantWriter writer;
+ return armarx::aron::type::Object::DynamicCastAndCheck(writeType(writer));
+ }
+
+ }; // class NaturalIKResult
+} // namespace armarx
+
+```
+
+As you see, the code generation creates a class for the `NaturalIKControlMode` enum. This special class provides convenience methods compared to normal c++ enums.
+Further, it creates a class for the `NaturalIKResult` object.
+
+Both, the enum and the object provide methods for reading and writing. The `read` method is used to parse a Aron object in an arbitrary representation (e.g. Aron variant or nlohmann::json) and to set the c++ members to the same values as the Aron object. To do so it uses a ReaderInterface implementation (See [Converter](Aron/Converter)). The `write` method is used to create an Aron object in an arbitrary representation with the same values as the c++ object. This method uses a WriterInterface implementation.
+
+For convenience, the `toAron()` and `fromAron()` methods, which internally use the `read` and `write` methods, are created. To get the structure of the c++ class as an Aron type object you can use the static `toAronType()` method which internally uses the `writeType` method.
+
+Futher, the code generation creates methods to compare two classes with each other (right now only operator==).
+
+This means, when using Aron, you don't need to mess around with the Aron DTOs and Aron objects, you only have to set and use plain c++ members of a generated class!
+
+
+
+
+# (Optional) Add conversions to existing (potentially more intelligent) C++ types
+
+Consider the case of `simox::OrientedBoxf` and `simox::arondto::OrientedBox`. The former is the business object (BO), used in daily business logic code (as it offers useful methods to construct and manipulate it). The latter is a mere data storage used to transfer the data, which is called a data transfer object (DTO).
+
+Therefore, you usually want to convert a `simox::arondto::OrientedBox` to a `simox::OrientedBoxf` as soon as you want to do things other than passing it around over network (e.g., at the beginning of a component method or after reading it from the working memory). Likewise, you want to convert a `simox::OrientedBoxf` to a `simox::arondto::OrientedBox` when you send the information over network or store it in the memory.
+
+To allow this conversion, follow these steps:
+
+- In your library, add a file pair `aron_conversions.{h, cpp}` next to your `aron/` directory and add them to the `CMakeLists.txt`
+- In the header, declare functions following this form:
+
+```cpp
+#pragma once
+
+#include <SimoxUtility/shapes/OrientedBox.h>
+#include <RobotAPI/libraries/aron/common/aron/OrientedBox.aron.generated.h>
+
+
+namespace simox
+{
+ void fromAron(const arondto::OrientedBox& dto, OrientedBoxf& bo);
+ void toAron(arondto::OrientedBox& dto, const OrientedBoxf& bo);
+}
+```
+
+Note:
+
+- Both functions take the DTO first and the BO second.
+- `fromAron()` takes a `const` DTO and a `non-const` BO.
+- `toAron()` takes a `non-const` DTO and a `const` BO.
+- All arguments are passed as reference (especially the `non-const` arguments).
+- The functions are defined in the BO's namespace (`simox` in this example, `armarx::mydata` in the running example).
+
+
+* In the cpp file, define the functions like this:
+
+```cpp
+#include "aron_conversions.h"
+
+// Include this and use armarx::aron::to/fromAron() for std::vector, std::map.
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
+
+// Include other aron_conversions.h files for other ARON types
+
+
+void simox::fromAron(const arondto::OrientedBox& dto, OrientedBoxf& bo)
+{
+ bo = OrientedBoxf(dto.center, dto.orientation, dto.extents);
+}
+
+void simox::toAron(arondto::OrientedBox& dto, const OrientedBoxf& bo)
+{
+ dto.center = bo.center();
+ dto.orientation = bo.rotation();
+ dto.extents = bo.dimensions();
+}
+```
+
+Note:
+
+- The implementation depends on your data. It might be as simple as copying all members, or require more complex conversions. Especially, you might use `fromAron()` for `toAron()` for other ARON object types.
+
+# Lessons learned
+- How to create a XML file with a valid Aron specification
+- How to add this file to CMake
+- How to use the generated class and how to convert it to an Aron object (e.g. for sending it to the memory)
\ No newline at end of file
diff --git a/docs/aron/conversion/README.md b/docs/aron/conversion/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..a2233c26e99620a5331c2a1ea2448a7c2189656d
--- /dev/null
+++ b/docs/aron/conversion/README.md
@@ -0,0 +1,35 @@
+# Aron conversion
+
+Aron offers ways to simply convert any aron object into another representation (e.g. from variant to nlohmann::json or vice versa). To do so, it makes use of specific readers and writers. In the following we will only describe the readers, writers and converters for Aron data, not for types (but the principle is the same).
+
+## Readers
+
+An Aron reader is used to get information of an Aron object in a specific representation. Assume you have an nlohmann::json aron object which contains some information (E.g. it is a dict, containing some members, ...). We need this information to create another object in another representation with the same content.
+
+To do so, you only have to implement the armarx::aron::data::ReaderInterface class. It needs one template parameter for your InputType (e.g. here const nlohmann::json).
+
+The interface provides the following pure virtual methods:
+```cpp
+ virtual void readList(InputType& input, std::vector<InputTypeNonConst>& elements) = 0;
+ virtual void readDict(InputType& input, std::map<std::string, InputTypeNonConst>& elements) = 0;
+ virtual void readNDArray(InputType& input, std::vector<int>& shape, std::string& typeAsString, std::vector<unsigned char>& data) = 0;
+ virtual void readInt(InputType& input, int& i) = 0;
+ virtual void readLong(InputType& input, long& i) = 0;
+ virtual void readFloat(InputType& input, float& i) = 0;
+ virtual void readDouble(InputType& input, double& i) = 0;
+ virtual void readString(InputType& input, std::string& s) = 0;
+ virtual void readBool(InputType& input, bool& i) = 0;
+```
+You have to implement the function so that the non-const arguments of the method will be filled with the values of the input. E.g. the implementation of the readString method for the nlohmann::json reader would be:
+```cpp
+ void NlohmannJSONReader::readString(const nlohmann::json& input, std::string& i)
+ {
+ if (input[rw::json::constantes::TYPE_SLUG] != expectedType)
+ {
+ throw error::ValueNotValidException(__PRETTY_FUNCTION__, "Wrong type in json encountered.", input[rw::json::constantes::TYPE_SLUG], expectedType);
+ }
+ i = input[rw::json::constantes::VALUE_SLUG];
+ }
+```
+
+Of course, the way to get the member depend on the way how to construct (writer) the nlohmann::json.
\ No newline at end of file
diff --git a/docs/aron/introduction/README.md b/docs/aron/introduction/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..1a9c9987d50c3784a87807595353b68362419293
--- /dev/null
+++ b/docs/aron/introduction/README.md
@@ -0,0 +1,213 @@
+[[_TOC_]]
+
+# Aron structure
+
+Aron (ArmarX Object Notation) is the ArmarX implementation of variants which can be transferred over the network via ZeroC Ice. Further, Aron is the data representation used in the ArmarX Memory System [ArMem](ArMem/ArMem). We distinguish between:
+
+- type specification vs. data information
+- data transfer object (in the following called Aron DTO) vs. its corresponding c++ wrapper (in the following called Aron object). The DTO specification is done in ice so that every Aron object can be transferred via ice.
+
+## Aron Type specification
+
+An Aron type specification defines the static type for an Aron data DTO or an Aron data object. It does not contain any data (e.g. an aron type list only knows the accepted type, not the list members). Since Aron supports maybe types (raw ptr, smart ptr, optional), every Aron type DTO contains a special member. It can only consist of the following types and information (AronVariant means any Type):
+
+```cpp
+ Object { // dto called armarx::aron::type::dto::AronObject
+ string name;
+ AronVariant extends;
+ map<string, AronVariant> memberTypes;
+ }
+ Dict { // dto called armarx::aron::type::dto::Dict
+ AronVariant acceptedType;
+ }
+ List { // dto called armarx::aron::type::dto::List
+ AronVariant acceptedType;
+ }
+ Pair { // ...
+ AronVariant acceptedType1;
+ AronVariant acceptedType2;
+ }
+ Tuple {
+ vector<AronVariant> acceptedTypes;
+ }
+ IntEnum {
+ string name;
+ map<string, int> acceptedValues;
+ }
+ NDArray {
+ int ndim;
+ type type; // in [uint8, int8, uint16, int16, uint32, int32, float32, float64]
+ }
+ Matrix {
+ int rows, cols;
+ type type; // in [int16, int32, int64, float32, float64]
+ }
+ Quaternion {
+ type type; // in [float32, float64]
+ }
+ Position {
+ }
+ Orientation {
+ }
+ Pose {
+ }
+ Image {
+ pixelType type; // in [rgb24, depth32]
+ }
+ PointCloud {
+ voxelType type; // in [PointXYZ, PointXYZI, PointXYZL, PointXYZRGB, PointXYZRGBA, PointXYZRGBL, PointXYZHSV]
+ }
+ Int { // dto called armarx::aron::type::dto::AronInt
+ }
+ Long { // dto called armarx::aron::type::dto::AronLong
+ }
+ Float { // dto called armarx::aron::type::dto::AronFloat
+ }
+ Double { // dto called armarx::aron::type::dto::AronDouble
+ }
+ String { // dto called armarx::aron::type::dto::AronString
+ }
+ Bool { // dto called armarx::aron::type::dto::AronBool
+ }
+ Time { // dto called armarx::aron::type::dto::AronTime
+ }
+```
+
+## Aron Data specification
+
+Aron data objects and Aron data DTOs are similar structured to type objects and type DTOs. However, there are less classes for data objects and data DTOs. Aron data is completely decoupled from the static types and contains the data members (e.g. an aron data list only contains the list members (as AronVariants) and not the accepted type):
+
+```cpp
+ Dict { // dto called armarx::aron::data::dto::Dict
+ map<string, AronVariant> members;
+ }
+ List { // dto called armarx::aron::data::dto::List
+ vector<AronVariant> elements;
+ }
+ NDArray { // ...
+ vector<int> shape;
+ string type;
+ vector<byte> data;
+ }
+ Int { // dto called armarx::aron::data::dto::AronInt
+ int value;
+ }
+ Long { // dto called armarx::aron::data::dto::AronLong
+ long value;
+ }
+ Float { // dto called armarx::aron::data::dto::AronFloat
+ float value;
+ }
+ Double { // dto called armarx::aron::data::dto::AronDouble
+ double value;
+ }
+ String { // dto called armarx::aron::data::dto::AronString
+ string value;
+ }
+ Bool { // dto called armarx::aron::data::dto::AronBool
+ bool value;
+ }
+```
+
+Please note that every Aron data object or DTO can be NULL!. The reason is, that if the type supports maybe types and a member is e.g. optional the data must support maybetype as well. If a generated Aron class (We come to the code generation later) has an optional member, this member will be translated into a NULL Aron object and DTO.
+
+## Connection of Aron data and Aron type
+
+Aron data contains less classes than Aron type. Because Aron data objects and DTOs do not check the type of the members (they can be any aron data (AronVariant)), we can only validate an aron data object or DTO if we have the type information. The following mapping describes, how data and types correspond.
+```cpp
+ Aron Type | Aron Data
+ -------------------------------
+ Object -> Dict
+ Dict -> Dict
+ List -> List
+ Pair -> List
+ Tuple -> List
+ NDArray -> NDArray
+ Matrix -> NDArray
+ Quaternion -> NDArray
+ Position -> NDArray
+ Orientation -> NDArray
+ Pose -> NDArray
+ Image -> NDArray
+ PointCloud -> NDArray
+ IntEnum -> Int
+ Int -> Int
+ Long -> Long
+ Float -> Float
+ Double -> Double
+ String -> String
+ Bool -> Bool
+ Time -> Long
+```
+
+If no type object or DTO is available, we can at least derive some information from the data object (e.g. "it is a data dict, so the type cant be list").
+
+To differ between data and type makes it easier to work with these Variants. In most cases, the type information is not relevant. Then you only have to check for the data type.
+
+# Aron data and type objects
+
+As already mentioned, we implemented wrapper classes around the DTO. These classes offer convenience methods and conversions and make lots things easier when working directly with Aron. These classes can be found at aron/core/[data,type]/variant/Variant.h.
+
+The Aron objects have more or less the same structure as the DTOs (see above). Everything is stored as a shared_ptr (e.g. members, elements, acceptedTypes, ...). If you want to implement a method which takes any Aron data object as input, you can use the base class of every Aron data object:
+```cpp
+ void myFancyMethod(const armarx::aron::data::VariantPtr& variant);
+```
+
+If you want to check, what a variant really is, you can use the descriptor of the object:
+```cpp
+ armarx::aron::data::VariantPtr variant; // <-- the variant
+ auto desc = variant->getDescriptor();
+ switch(desc)
+ {
+ case armarx::aron::data::Descriptor::eDict: ...
+ case armarx::aron::data::Descriptor::eList: ...
+ ...
+ }
+```
+
+If you have a DTO, you dont know the exact type but you want to have a Aron object you can make use of the static construction methods:
+```cpp
+ armarx::aron::data::dto::GenericData dto; // <-- the DTO variant
+ auto aron = armarx::aron::data::Variant::FromAronDTO(dto);
+```
+
+If you know the type, you can use the constructor the specific Aron object.
+
+## Example to create an Aron data dict from scratch
+
+Goal: Have an Aron dict with a list as member "the_list" and some values in it. Then echo the members and their descriptor as a string.
+
+```cpp
+ using namespace armarx;
+
+ // setup aron object
+ auto dict = std::make_shared<aron::data::Dict>();
+ {
+ auto list = std::make_shared<aron::data::List>();
+ for (unsigned int i = 0; i < 10; ++i)
+ {
+ list->addElement(std::make_shared<aron::data::Int>(i));
+ }
+ dict->addElement("the_list", list);
+ }
+
+ // echo
+ auto listVariant = dict->getElement("the_list"); // will return a aron::data::VariantPtr
+ auto list = aron::data::List::DynamicCastAndCheck(listVariant); // cast and check whether the cast was successful
+ for (const auto& intVar : list->getElements())
+ {
+ auto i = aron::data::Int::DynamicCastAndCheck(intVar);
+ std::cout << "The value is: " << i->getValue() << std::endl;
+ std::cout << "The descriptor is: " << aron::data::defaultconversion::string::Descriptor2String.at(i->getDescriptor()) << std::endl;
+ }
+```
+
+Please note that we might add more methods or make the current ones more flexible (e.g. such as nlohmann::json).
+
+# Lessons learned
+
+- There is a difference between Aron data and Aron type
+- There is a difference between Aron objects and Aron DTOs
+- How are Aron DTOs structured
+- How do Aron data and Aron types correspond
+- How to use the Aron objects
\ No newline at end of file
diff --git a/docs/aron/visitors/README.md b/docs/aron/visitors/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..c72e3a92e31b44b4bccbe2cfcd73be2aecb0c1b4
--- /dev/null
+++ b/docs/aron/visitors/README.md
@@ -0,0 +1,101 @@
+[[_TOC_]]
+
+# Visitors
+
+Visitors are a useful tool to define specific methods for specific types without specifying the `switch(): case: ...` again and again. Further, recursive visitors offer a convenient way to iterate through the tree-like structure of any Aron object. (Please note that right now the implementation does not check for cycles!). Again, we will only look at data visitors since the implementation of type visitors is more or less similar.
+
+## Non-recursive Visitors
+
+First, there are "normal" visitors. They are used to get rid of the big switch-case statement when getting an Aron object with unknown type. Further, these visitors can be used to convert an Aron object from one representation into another (see [Aron/Conversion](Aron/Conversion)).
+The Visitor Base-class offers the following pure virtual methods which you have to implement:
+```cpp
+ virtual data::Descriptor getDescriptor(Input&) = 0;
+ virtual void visitDict(Input&) {};
+ virtual void visitList(Input&) {};
+ virtual void visitNDArray(Input&) {};
+ virtual void visitInt(Input&) {};
+ virtual void visitLong(Input&) {};
+ virtual void visitFloat(Input&) {};
+ virtual void visitDouble(Input&) {};
+ virtual void visitBool(Input&) {};
+ virtual void visitString(Input&) {};
+ virtual void visitUnknown(Input&) { throw error::AronException(__PRETTY_FUNCTION__, "Unknown type in visitor."); }
+```
+`Input` is a template parameter, defining the Input-type (e.g. `const armarx::aron::data::VariantPtr` for a `VariantVisitor` Implementation).
+
+The method `getDescriptor(Input&)` is used for the switch case interally.
+
+As you can see the `VariantVisitor` always gets a generic variant as input in each function. This means that, although the Visitor guarantees that the input is correct, you have to cast the class to the correct type. For widely used Visitors, the Aron library offers convenience implementations (e.g. for Variants and for nlohmann::json inputs). The convenience class for Variants additionally adds overloads where the input is already casted correctly (you can decide which method you want to override).
+
+To use a Visitor, you have to use the function
+```cpp
+ void visit(VisitorImplementation& v, typename VisitorImplementation::Input& o);
+```
+which takes the visitor and the input as arguments and does the switch-case.
+
+## Recursive Vistors
+
+Recursive visitors are similar to normal vistors but they continue "visiting" until the object is fully visited. For containers (e.g. dicts, lists) they offer two methods each:
+```cpp
+ virtual void visitDictOnEnter(Input& element) {};
+ virtual void visitDictOnExit(Input& element) {};
+ virtual void visitListOnEnter(Input& element) {};
+ virtual void visitListOnExit(Input& element) {};
+```
+The `*OnEnter` method is called before iterating over all children of the container. The `*OnExit` is called after the iteration.
+
+Further, in order to get the elements of a container, you must implement the methods:
+```cpp
+ virtual MapElements getDictElements(Input&) = 0;
+ virtual ListElements getListElements(Input&) = 0;
+```
+Again, Input can be any aron object (e.g. Variant or nlohmann::json).
+
+As for normal visitors, the Aron library offers convenience implementations for Variants and nlohmann::json inputs.
+
+To use the RecursiveVisitor, you have to use the function
+```cpp
+ void visitRecursive(RecursiveVisitorImplementation& v, typename RecursiveVisitorImplementation::Input& o);
+```
+
+### Example
+
+Assume you want to count how many objects of each kind you have in a Variant.
+```cpp
+ #include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+ class CountingRecursiveVisitor : public RecursiveConstVariantVisitor
+ {
+ public:
+ int dicts = 0;
+ int lists = 0;
+ int ndarrays = 0;
+ int ints = 0;
+ int floats = 0;
+ int longs = 0;
+ int doubles = 0;
+ int strings = 0;
+ int bools = 0;
+ public:
+ void visitAronVariantOnEnter(const data::DictPtr&) override { dicts++; }
+ void visitAronVariantOnEnter(const data::ListPtr&) override { lists++; }
+ void visitAronVariant(const data::NDArrayPtr&) override { ndarrays++; }
+ void visitAronVariant(const data::IntPtr&) override { ints++; }
+ void visitAronVariant(const data::LongPtr&) override { longs++; }
+ void visitAronVariant(const data::FloatPtr&) override { floats++; }
+ void visitAronVariant(const data::DoublePtr&) override { doubles++; }
+ void visitAronVariant(const data::BoolPtr&) override { strings++; }
+ void visitAronVariant(const data::StringPtr&) override { bools++; }
+ };
+
+ void countHowMany(const aron::data::VariantPtr& aron)
+ {
+ CountingRecursiveVisitor visitor;
+ aron::data::visitRecursive(visitor, aron);
+
+ std::cout << "The aron has " << visitor.dicts << " dicts." << std::endl;
+ }
+```
+
+## Typed Visitors
+
+# Lessons Learned
\ No newline at end of file
diff --git a/etc/doxygen/pages/HowTos.dox b/etc/doxygen/pages/HowTos.dox
index aed242e5dd4a966612bb69f31a30d8efc73e292d..73d1f6aa03ce74996e4fb74e9476b829dffb5f12 100644
--- a/etc/doxygen/pages/HowTos.dox
+++ b/etc/doxygen/pages/HowTos.dox
@@ -85,7 +85,7 @@ With the corresponding configuration in ./config/Armar3Config.cfg:
\section RobotAPI-HowTos-RobotViewer How to inspect the robot's structure
-Robots are usually defined in the Simox XML (https://gitlab.com/Simox/simox/wikis/FileFormat) or in the URDF format. To inspect the kinematic structure, visualizations and physical properties, you can use the <i>RobotViewer</i> tool which is part of the Simox library. In particlular you can visualize all coordinate frames that are present in the robot defintion.
+Robots are usually defined in the Simox XML (https://git.h2t.iar.kit.edu/sw/simox/simox/-/wikis/FileFormat) or in the URDF format. To inspect the kinematic structure, visualizations and physical properties, you can use the <i>RobotViewer</i> tool which is part of the Simox library. In particlular you can visualize all coordinate frames that are present in the robot defintion.
Start it with the following command:
\code
RobotViewer --robot path/to/robot.xml
@@ -96,7 +96,7 @@ Start it with the following command:
\section RobotAPI-HowTos-RemoteRobot-Access How to access a RobotStateComponent
The RobotStateComponent provides several methods for accessing the current configuration of the robot and for getting a snapshot of the current state which is compatible with
-models of the Simox/VirtualRobot framework. With these models the whole functionality of Simox (https://gitlab.com/Simox/simox) can be used, e.g. IK solving, collision detection or motion and grasp planning.
+models of the Simox/VirtualRobot framework. With these models the whole functionality of Simox (https://git.h2t.iar.kit.edu/sw/simox/simox) can be used, e.g. IK solving, collision detection or motion and grasp planning.
See also \ref RobotAPI-RemoteRobot-Overview.
\par Creating a synchronized model (RemoteRobot)
diff --git a/etc/doxygen/pages/Tutorials.dox b/etc/doxygen/pages/Tutorials.dox
index ca71a9b1d96933319cdbda29d65d4d0e6b1d5e78..ff5d3d89165100062c7016e19466717f3decd6be 100644
--- a/etc/doxygen/pages/Tutorials.dox
+++ b/etc/doxygen/pages/Tutorials.dox
@@ -8,6 +8,6 @@ Tutorials related to RobotAPI:
\li \ref Component-ArVizExample (Example component for how to use ArViz)
-\li <a href="https://gitlab.com/ArmarX/meta/Academy/-/tree/master/tutorials/100_beginner/301_memory_server_and_client_tutorial_cpp">Memory Server and Client Tutorial</a>
+\li <a href="https://git.h2t.iar.kit.edu/sw/armarx/meta/academy/-/tree/master/tutorials/100_beginner/301_memory_server_and_client_tutorial_cpp">Memory Server and Client Tutorial</a>
*/
diff --git a/etc/doxygen/pages/armarpose.dox b/etc/doxygen/pages/armarpose.dox
index 4dcacff7b984c98f7b2070a6db9dbcbc260309a4..66d53a3a8b52b3c67aac0dba6150573969e18b4f 100644
--- a/etc/doxygen/pages/armarpose.dox
+++ b/etc/doxygen/pages/armarpose.dox
@@ -23,7 +23,8 @@ Use this variable if you specify global poses and an empty Agent-string. Empty f
\section FramedPose-FramedPositionCreation Creation of new FramedPositions
To create a new FramedPosition (FramedOrientation, FramedVector and FramedPose work analogously) one needs
to know the position, the coordinate frame name and the agent name.
-The coordinate frame is usually the name of the RobotNode, e.g. the tcp of the robot. All nodes of a robot can be inspected with the <a href="https://gitlab.com/Simox/simox/wikis/Examples">Simox tool *RobotViewer*</a>.
+The coordinate frame is usually the name of the RobotNode, e.g. the tcp of the robot.
+All nodes of a robot can be inspected with the <a href="https://git.h2t.iar.kit.edu/sw/simox/simox/-/wikis/Examples">Simox tool *RobotViewer*</a>.
The agent name can be retrieved via the \ref armarx::RobotStateComponent like this:
\code
diff --git a/scenarios/ArVizExample/config/ArVizInteractExample.cfg b/scenarios/ArVizExample/config/ArVizInteractExample.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..0892ab764555b0fba8759653513371035dc9b45d
--- /dev/null
+++ b/scenarios/ArVizExample/config/ArVizInteractExample.cfg
@@ -0,0 +1,204 @@
+# ==================================================================
+# ArVizInteractExample properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.ArVizInteractExample.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArVizInteractExample.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.ArVizInteractExample.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArVizInteractExample.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.ArVizInteractExample.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ArVizInteractExample.EnableProfiling = false
+
+
+# ArmarX.ArVizInteractExample.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.ArVizInteractExample.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ArVizInteractExample.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArVizInteractExample.ObjectName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/AronComponentConfigExample/AronComponentConfigExample.scx b/scenarios/AronComponentConfigExample/AronComponentConfigExample.scx
new file mode 100644
index 0000000000000000000000000000000000000000..250a99e0a034d4addcef5a6039bf3b4f61e9bd24
--- /dev/null
+++ b/scenarios/AronComponentConfigExample/AronComponentConfigExample.scx
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="AronComponentConfigExample" creation="2022-11-02.11:11:59 AM" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="AronComponentConfigExample" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RemoteGuiProviderApp" instance="" package="ArmarXGui" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+
diff --git a/scenarios/AronComponentConfigExample/config/AronComponentConfigExample.cfg b/scenarios/AronComponentConfigExample/config/AronComponentConfigExample.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..dcf2233099e0acef6a620567979cc71e1da2cc29
--- /dev/null
+++ b/scenarios/AronComponentConfigExample/config/AronComponentConfigExample.cfg
@@ -0,0 +1,344 @@
+# ==================================================================
+# AronComponentConfigExample properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.ComponentConfigTest.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ComponentConfigTest.EnableProfiling = false
+
+
+# ArmarX.ComponentConfigTest.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.ComponentConfigTest.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ComponentConfigTest.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.ObjectName = ""
+
+
+# ArmarX.ComponentConfigTest.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.ComponentConfigTest.boolMember:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ComponentConfigTest.boolMember = true
+
+
+# ArmarX.ComponentConfigTest.floatMember:
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.floatMember = 100
+
+
+# ArmarX.ComponentConfigTest.intMember:
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.intMember = 1000
+
+
+# ArmarX.ComponentConfigTest.stringMember:
+# Attributes:
+# - Default: initial
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.stringMember = initial
+
+
+# ArmarX.ComponentConfigTest.subMember.boolMember:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ComponentConfigTest.subMember.boolMember = false
+
+
+# ArmarX.ComponentConfigTest.subMember.doubleMember:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.subMember.doubleMember = 0
+
+
+# ArmarX.ComponentConfigTest.subMember.floatMember:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.subMember.floatMember = 0
+
+
+# ArmarX.ComponentConfigTest.subMember.intMember:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.subMember.intMember = 0
+
+
+# ArmarX.ComponentConfigTest.subMember.stringMember:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.subMember.stringMember = ""
+
+
+# ArmarX.ComponentConfigTest.subMember.subsubMember.boolMember:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ComponentConfigTest.subMember.subsubMember.boolMember = false
+
+
+# ArmarX.ComponentConfigTest.subMember.subsubMember.enumMember:
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Bar, Baz, Foo, Qux}
+# ArmarX.ComponentConfigTest.subMember.subsubMember.enumMember = 1
+
+
+# ArmarX.ComponentConfigTest.subMember.subsubMember.floatMember:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.subMember.subsubMember.floatMember = 0
+
+
+# ArmarX.ComponentConfigTest.subMember.subsubMember.intDictMember:
+# Attributes:
+# - Default: int1:1,int2:2
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ComponentConfigTest.subMember.subsubMember.intDictMember = int1:1,int2:2,int3:3,int5:4
+
+
+# ArmarX.ComponentConfigTest.subMember.subsubMember.intListMember:
+# Attributes:
+# - Default: 1, 2, 3, 4, 5, 6
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.subMember.subsubMember.intListMember = 1, 2, 3, 4, 5, 6
+
+
+# ArmarX.ComponentConfigTest.subMember.subsubMember.intMember:
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.subMember.subsubMember.intMember = 0
+
+
+# ArmarX.ComponentConfigTest.subMember.subsubMember.stringDictMember:
+# Attributes:
+# - Default: string1:blub,string2:duh
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.subMember.subsubMember.stringDictMember = string1:blub,string2:duh
+
+
+# ArmarX.ComponentConfigTest.subMember.subsubMember.stringListMember:
+# Attributes:
+# - Default: a, b, c, d, e
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.subMember.subsubMember.stringListMember = a, b, c, d, e
+
+
+# ArmarX.ComponentConfigTest.subMember.subsubMember.stringMember:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ComponentConfigTest.subMember.subsubMember.stringMember = ""
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/AronComponentConfigExample/config/RemoteGuiProviderApp.cfg b/scenarios/AronComponentConfigExample/config/RemoteGuiProviderApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..4b6abea40d72afd7d313ee47a9b191f3b26de30d
--- /dev/null
+++ b/scenarios/AronComponentConfigExample/config/RemoteGuiProviderApp.cfg
@@ -0,0 +1,196 @@
+# ==================================================================
+# RemoteGuiProviderApp properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteGuiProvider.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RemoteGuiProvider.EnableProfiling = false
+
+
+# ArmarX.RemoteGuiProvider.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.RemoteGuiProvider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RemoteGuiProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteGuiProvider.ObjectName = ""
+
+
+# ArmarX.RemoteGuiProvider.TopicName: Name of the topic on which updates to the remote state are reported.
+# Attributes:
+# - Default: RemoteGuiTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteGuiProvider.TopicName = RemoteGuiTopic
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/AronComponentConfigExample/config/global.cfg b/scenarios/AronComponentConfigExample/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..44dde159548b3d54011a075a37f6ac0d7fc41f14
--- /dev/null
+++ b/scenarios/AronComponentConfigExample/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario AronComponentConfigExample
+# ==================================================================
+
diff --git a/scenarios/ArticulatedObjectWriterExample/ArticulatedObjectWriterExample.scx b/scenarios/ArticulatedObjectWriterExample/ArticulatedObjectWriterExample.scx
new file mode 100644
index 0000000000000000000000000000000000000000..9e4ef2810eae6db0c1a475e9b220fae7e18418b6
--- /dev/null
+++ b/scenarios/ArticulatedObjectWriterExample/ArticulatedObjectWriterExample.scx
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="ArticulatedObjectWriterExample" creation="2022-10-10.18:54:39" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="ArticulatedObjectLocalizerExample" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="MemoryNameSystem" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RemoteGuiProviderApp" instance="" package="ArmarXGui" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ObjectMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ArVizStorage" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RobotStateMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+
diff --git a/scenarios/ArticulatedObjectWriterExample/config/ArVizStorage.cfg b/scenarios/ArticulatedObjectWriterExample/config/ArVizStorage.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..302ac28c37dd28de3e68fb4fe4c2174faa4ec3bf
--- /dev/null
+++ b/scenarios/ArticulatedObjectWriterExample/config/ArVizStorage.cfg
@@ -0,0 +1,212 @@
+# ==================================================================
+# ArVizStorage properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.ArVizStorage.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ArVizStorage.EnableProfiling = false
+
+
+# ArmarX.ArVizStorage.HistoryPath: Destination path where the history is serialized to
+# Attributes:
+# - Default: RobotAPI/ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArVizStorage.HistoryPath = RobotAPI/ArVizStorage
+
+
+# ArmarX.ArVizStorage.MaxHistorySize: How many layer updates are saved in the history until they are compressed
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArVizStorage.MaxHistorySize = 1000
+
+
+# ArmarX.ArVizStorage.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.ArVizStorage.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ArVizStorage.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArVizStorage.ObjectName = ""
+
+
+# ArmarX.ArVizStorage.TopicName: Layer updates are sent over this topic.
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArVizStorage.TopicName = ArVizTopic
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/ArticulatedObjectWriterExample/config/ArticulatedObjectLocalizerExample.cfg b/scenarios/ArticulatedObjectWriterExample/config/ArticulatedObjectLocalizerExample.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..e6c221120c7a8f33693caf9dc5fa229875dabb4a
--- /dev/null
+++ b/scenarios/ArticulatedObjectWriterExample/config/ArticulatedObjectLocalizerExample.cfg
@@ -0,0 +1,269 @@
+# ==================================================================
+# ArticulatedObjectLocalizerExample properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ArticulatedObjectLocalizerExample.EnableProfiling = false
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.ArticulatedObjectLocalizerExample.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerExample.ObjectName = ""
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.CoreSegment: Name of the memory core segment to use for object classes.
+# Attributes:
+# - Default: Class
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.CoreSegment = Class
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.MemoryName:
+# Attributes:
+# - Default: Object
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.MemoryName = Object
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.read.ProviderName:
+# Attributes:
+# - Default: PriorKnowledgeData
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.read.ProviderName = PriorKnowledgeData
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.write.ProviderName: Name of this provider
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.ArticulatedObjectLocalizerExample.mem.obj.articulated.write.ProviderName = ExampleProvider
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ArticulatedObjectLocalizerExample.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerExample.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.p.obj.class:
+# Attributes:
+# - Default: mobile-dishwasher
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ArticulatedObjectLocalizerExample.p.obj.class = cabinet
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.p.obj.dataset:
+# Attributes:
+# - Default: Kitchen
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.ArticulatedObjectLocalizerExample.p.obj.dataset = RBO-articulated-object-dataset
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
+# Attributes:
+# - Default: DebugObserver
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerExample.tpc.pub.DebugObserver = DebugObserver
+
+
+# ArmarX.ArticulatedObjectLocalizerExample.updateFrequency: Memory update frequency (write).
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ArticulatedObjectLocalizerExample.updateFrequency = 25
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/ArticulatedObjectWriterExample/config/MemoryNameSystem.cfg b/scenarios/ArticulatedObjectWriterExample/config/MemoryNameSystem.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..b8bc70a66ca7f32a628886ad1bf13e373f9750d3
--- /dev/null
+++ b/scenarios/ArticulatedObjectWriterExample/config/MemoryNameSystem.cfg
@@ -0,0 +1,196 @@
+# ==================================================================
+# MemoryNameSystem properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.MemoryNameSystem.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.MemoryNameSystem.EnableProfiling = false
+
+
+# ArmarX.MemoryNameSystem.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.MemoryNameSystem.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.MemoryNameSystem.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.MemoryNameSystem.ObjectName = ""
+
+
+# ArmarX.MemoryNameSystem.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.MemoryNameSystem.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/ArticulatedObjectWriterExample/config/ObjectMemory.cfg b/scenarios/ArticulatedObjectWriterExample/config/ObjectMemory.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..95961b39febd5772f9f3ee485552631f407b73cc
--- /dev/null
+++ b/scenarios/ArticulatedObjectWriterExample/config/ObjectMemory.cfg
@@ -0,0 +1,701 @@
+# ==================================================================
+# ObjectMemory properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.ObjectMemory.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.ObjectMemory.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.ObjectMemory.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.EnableProfiling = false
+
+
+# ArmarX.ObjectMemory.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.ObjectMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ObjectMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ObjectName = ""
+
+
+# ArmarX.ObjectMemory.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName: Name of the kinematic unit observer.
+# Attributes:
+# - Default: KinematicUnitObserver
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName = KinematicUnitObserver
+
+
+# ArmarX.ObjectMemory.mem.MemoryName: Name of this memory server.
+# Attributes:
+# - Default: Object
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.MemoryName = Object
+
+
+# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName: Name of the object instance core segment.
+# Attributes:
+# - Default: Attachments
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName = Attachments
+
+
+# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize = -1
+
+
+# ArmarX.ObjectMemory.mem.cls.Floor.EntityName: Object class entity of the floor.
+# Attributes:
+# - Default: Building/floor-20x20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.Floor.EntityName = Building/floor-20x20
+
+
+# ArmarX.ObjectMemory.mem.cls.Floor.Height: Height (z) of the floor plane.
+# Set slightly below 0 to avoid z-fighting when drawing planes on the ground.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.Floor.Height = -1
+
+
+# ArmarX.ObjectMemory.mem.cls.Floor.LayerName: Layer to draw the floor on.
+# Attributes:
+# - Default: Floor
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.Floor.LayerName = Floor
+
+
+# ArmarX.ObjectMemory.mem.cls.Floor.Show: Whether to show the floor.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.cls.Floor.Show = true
+
+
+# ArmarX.ObjectMemory.mem.cls.LoadFromObjectsPackage: If true, load the objects from the objects package on startup.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.cls.LoadFromObjectsPackage = true
+
+
+# ArmarX.ObjectMemory.mem.cls.ObjectsPackage: Name of the objects package to load from.
+# Attributes:
+# - Default: PriorKnowledgeData
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.ObjectsPackage = PriorKnowledgeData
+
+
+# ArmarX.ObjectMemory.mem.cls.seg.CoreMaxHistorySize: Maximal size of the Class entity histories (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.seg.CoreMaxHistorySize = -1
+
+
+# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName: Name of the Class core segment.
+# Attributes:
+# - Default: Class
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.seg.CoreSegmentName = Class
+
+
+# ArmarX.ObjectMemory.mem.inst.DiscardSnapshotsWhileAttached: If true, no new snapshots are stored while an object is attached to a robot node.
+# If false, new snapshots are stored, but the attachment is kept in the new snapshots.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.DiscardSnapshotsWhileAttached = true
+
+
+# ArmarX.ObjectMemory.mem.inst.calibration.offset: Offset for the node to be calibrated.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.calibration.offset = 0
+
+
+# ArmarX.ObjectMemory.mem.inst.calibration.robotName: Name of robot whose note can be calibrated.
+# If not given, the 'fallbackName' is used.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.calibration.robotName = ""
+
+
+# ArmarX.ObjectMemory.mem.inst.calibration.robotNode: Robot node which can be calibrated.
+# Attributes:
+# - Default: Neck_2_Pitch
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.calibration.robotNode = Neck_2_Pitch
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.delaySeconds: Duration after latest localization before decay starts.
+# Attributes:
+# - Default: 5
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.delaySeconds = 5
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.durationSeconds: How long to reach minimal confidence.
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.durationSeconds = 20
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.enabled: If true, object poses decay over time when not localized anymore.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.decay.enabled = false
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.maxConfidence: Confidence when decay starts.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.maxConfidence = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.minConfidence: Confidence after decay duration.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.minConfidence = 0
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.removeObjectsBelowConfidence: Remove objects whose confidence is lower than this value.
+# Attributes:
+# - Default: 0.100000001
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.removeObjectsBelowConfidence = 0.100000001
+
+
+# ArmarX.ObjectMemory.mem.inst.head.checkHeadVelocity: If true, check whether the head is moving and discard updates in the meantime.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.head.checkHeadVelocity = true
+
+
+# ArmarX.ObjectMemory.mem.inst.head.discardIntervalAfterMoveMS: For how long new updates are ignored after moving the head.
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.head.discardIntervalAfterMoveMS = 100
+
+
+# ArmarX.ObjectMemory.mem.inst.head.maxJointVelocity: If a head joint's velocity is higher, the head is considered moving.
+# Attributes:
+# - Default: 0.0500000007
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.head.maxJointVelocity = 0.0500000007
+
+
+# ArmarX.ObjectMemory.mem.inst.robots.FallbackName: Robot name to use as fallback if the robot name is not specified in a provided object pose.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.robots.FallbackName = ""
+
+
+# ArmarX.ObjectMemory.mem.inst.scene.10_Package: ArmarX package containing the scene snapshots.
+# Scene snapshots are expected to be located in Package/data/Package/Scenes/*.json.
+# Attributes:
+# - Default: PriorKnowledgeData
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.scene.10_Package = PriorKnowledgeData
+
+
+# ArmarX.ObjectMemory.mem.inst.scene.11_Directory: Directory in Package/data/Package/ containing the scene snapshots.
+# Attributes:
+# - Default: scenes
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.scene.11_Directory = scenes
+
+
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad: Scene to load on startup (e.g. 'Scene_2021-06-24_20-20-03').
+# You can also specify paths relative to 'Package/scenes/'.
+# You can also specify a ; separated list of scenes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = ""
+
+
+# ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize: Maximal size of the Instance entity histories (-1 for infinite).
+# Attributes:
+# - Default: 64
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.seg.CoreMaxHistorySize = 64
+
+
+# ArmarX.ObjectMemory.mem.inst.seg.CoreSegmentName: Name of the Instance core segment.
+# Attributes:
+# - Default: Instance
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.seg.CoreSegmentName = Instance
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.alpha: Alpha of objects (1 = solid, 0 = transparent).
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.alpha = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.alphaByConfidence: If true, use the pose confidence as alpha (if < 1.0).
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.alphaByConfidence = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.enabled: Enable or disable visualization of objects.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.enabled = true
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.frequenzyHz: Frequency of visualization.
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.frequenzyHz = 25
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.position: Enable showing pose gaussians (orientation part).
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.position = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionDisplaced: Displace center orientation (co)variance circle arrows along their rotation axis.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionDisplaced = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionScale: Scaling of pose gaussians (orientation part).
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.gaussians.positionScale = 100
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.inGlobalFrame: If true, show global poses. If false, show poses in robot frame.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.inGlobalFrame = true
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.objectFrames: Enable showing object frames.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.objectFrames = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.objectFramesScale: Scaling of object frames.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.objectFramesScale = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.oobbs: Enable showing oriented bounding boxes.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.oobbs = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.ghostAlpha: Alpha of linear prediction ghosts.
+# Attributes:
+# - Default: 0.699999988
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.ghostAlpha = 0.699999988
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showArrow: Show arrows from current object poses to the linearly predicted ones.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showArrow = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showFrame: Show frames at linearly predicted object poses.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showFrame = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showGhost: Show ghosts at linearly predicted object poses.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.showGhost = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeOffset: The offset (in seconds) to the current time to make predictions for.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeOffset = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeWindow: The time window (in seconds) into the past to perform the regression on.
+# Attributes:
+# - Default: 2
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeWindow = 2
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels: Prefer articulated object models if available.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels = true
+
+
+# ArmarX.ObjectMemory.mem.ltm.configuration:
+# Attributes:
+# - Default: {}
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.ltm.configuration = {}
+
+
+# ArmarX.ObjectMemory.mem.ltm.enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.ltm.enabled = false
+
+
+# ArmarX.ObjectMemory.mem.robot_state.Memory:
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.robot_state.Memory = RobotState
+
+
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment: Name of the localization memory core segment to use.
+# Attributes:
+# - Default: Localization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment = Localization
+
+
+# ArmarX.ObjectMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.ObjectMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.ObjectMemory.prediction.TimeWindow: Duration of time window into the past to use for predictions when requested via the PredictingMemoryInterface (in seconds).
+# Attributes:
+# - Default: 2
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.prediction.TimeWindow = 2
+
+
+# ArmarX.ObjectMemory.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
+# Attributes:
+# - Default: DebugObserver
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.tpc.pub.DebugObserver = DebugObserver
+
+
+# ArmarX.ObjectMemory.tpc.sub.ObjectPoseTopic: Name of the `ObjectPoseTopic` topic to subscribe to.
+# Attributes:
+# - Default: ObjectPoseTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.tpc.sub.ObjectPoseTopic = ObjectPoseTopic
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/ArticulatedObjectWriterExample/config/RemoteGuiProviderApp.cfg b/scenarios/ArticulatedObjectWriterExample/config/RemoteGuiProviderApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..4b6abea40d72afd7d313ee47a9b191f3b26de30d
--- /dev/null
+++ b/scenarios/ArticulatedObjectWriterExample/config/RemoteGuiProviderApp.cfg
@@ -0,0 +1,196 @@
+# ==================================================================
+# RemoteGuiProviderApp properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteGuiProvider.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RemoteGuiProvider.EnableProfiling = false
+
+
+# ArmarX.RemoteGuiProvider.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.RemoteGuiProvider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RemoteGuiProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteGuiProvider.ObjectName = ""
+
+
+# ArmarX.RemoteGuiProvider.TopicName: Name of the topic on which updates to the remote state are reported.
+# Attributes:
+# - Default: RemoteGuiTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteGuiProvider.TopicName = RemoteGuiTopic
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/ArticulatedObjectWriterExample/config/RobotStateMemory.cfg b/scenarios/ArticulatedObjectWriterExample/config/RobotStateMemory.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..5839620e5e3c5df7e080f39405a021bdbcd4a0ea
--- /dev/null
+++ b/scenarios/ArticulatedObjectWriterExample/config/RobotStateMemory.cfg
@@ -0,0 +1,361 @@
+# ==================================================================
+# RobotStateMemory properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.RobotStateMemory.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.RobotStateMemory.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.RobotStateMemory.DebugObserverTopicName: Name of the topic the DebugObserver listens on
+# Attributes:
+# - Default: DebugObserver
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.DebugObserverTopicName = DebugObserver
+
+
+# ArmarX.RobotStateMemory.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateMemory.EnableProfiling = false
+
+
+# ArmarX.RobotStateMemory.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.RobotStateMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotStateMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.ObjectName = ""
+
+
+# ArmarX.RobotStateMemory.RobotUnit.SensorValuePrefix: Prefix of all sensor values.
+# Attributes:
+# - Default: sens.*
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.RobotUnit.SensorValuePrefix = sens.*
+
+
+# ArmarX.RobotStateMemory.RobotUnit.UpdateFrequency: The frequency to store values in Hz. All other values get discarded. Minimum is 1, max is 100.000000.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.RobotUnit.UpdateFrequency = 50
+
+
+# ArmarX.RobotStateMemory.RobotUnitName: Name of the RobotUnit
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.RobotUnitName = ""
+
+
+# ArmarX.RobotStateMemory.WaitForRobotUnit: Add the robot unit as dependency to the component. This memory requires a running RobotUnit, therefore we should add it as explicit dependency.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateMemory.WaitForRobotUnit = false
+
+
+# ArmarX.RobotStateMemory.mem.MemoryName: Name of this memory server.
+# Attributes:
+# - Default: RobotState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.MemoryName = RobotState
+
+
+# ArmarX.RobotStateMemory.mem.desc.seg.CoreMaxHistorySize: Maximal size of the Description entity histories (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.desc.seg.CoreMaxHistorySize = -1
+
+
+# ArmarX.RobotStateMemory.mem.desc.seg.CoreSegmentName: Name of the Description core segment.
+# Attributes:
+# - Default: Description
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.desc.seg.CoreSegmentName = Description
+
+
+# ArmarX.RobotStateMemory.mem.loc.seg.CoreMaxHistorySize: Maximal size of the Localization entity histories (-1 for infinite).
+# Attributes:
+# - Default: 1024
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.loc.seg.CoreMaxHistorySize = 1024
+
+
+# ArmarX.RobotStateMemory.mem.loc.seg.CoreSegmentName: Name of the Localization core segment.
+# Attributes:
+# - Default: Localization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.loc.seg.CoreSegmentName = Localization
+
+
+# ArmarX.RobotStateMemory.mem.ltm.configuration:
+# Attributes:
+# - Default: {}
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.ltm.configuration = {}
+
+
+# ArmarX.RobotStateMemory.mem.ltm.enabled:
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateMemory.mem.ltm.enabled = false
+
+
+# ArmarX.RobotStateMemory.mem.prop.seg.CoreMaxHistorySize: Maximal size of the Proprioception entity histories (-1 for infinite).
+# Attributes:
+# - Default: 1024
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.prop.seg.CoreMaxHistorySize = 1024
+
+
+# ArmarX.RobotStateMemory.mem.prop.seg.CoreSegmentName: Name of the Proprioception core segment.
+# Attributes:
+# - Default: Proprioception
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.prop.seg.CoreSegmentName = Proprioception
+
+
+# ArmarX.RobotStateMemory.mem.visu.enabled: Enable or disable visualization of objects.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateMemory.mem.visu.enabled = true
+
+
+# ArmarX.RobotStateMemory.mem.visu.frequenzyHz: Frequency of visualization.
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mem.visu.frequenzyHz = 25
+
+
+# ArmarX.RobotStateMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.RobotStateMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.RobotStateMemory.prediction.TimeWindow: Duration of time window into the past to use for predictions when requested via the PredictingMemoryInterface (in seconds).
+# Attributes:
+# - Default: 2
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateMemory.prediction.TimeWindow = 2
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/ArticulatedObjectWriterExample/config/global.cfg b/scenarios/ArticulatedObjectWriterExample/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..fdfd38bb91a262ada278ef24d00788bd824755ed
--- /dev/null
+++ b/scenarios/ArticulatedObjectWriterExample/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario ArticulatedObjectWriterExample
+# ==================================================================
+
diff --git a/scenarios/edit_object_memory/config/ObjectMemoryEditor.cfg b/scenarios/edit_object_memory/config/ObjectMemoryEditor.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..827455bc124e50f821cb0552776f6a0335f5a5ee
--- /dev/null
+++ b/scenarios/edit_object_memory/config/ObjectMemoryEditor.cfg
@@ -0,0 +1,244 @@
+# ==================================================================
+# ObjectMemoryEditor properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.InteractiveMemoryEditor.ArVizStorageName: Name of the ArViz storage
+# Attributes:
+# - Default: ArVizStorage
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InteractiveMemoryEditor.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.InteractiveMemoryEditor.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InteractiveMemoryEditor.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.InteractiveMemoryEditor.DebugObserverTopicName: Name of the topic the DebugObserver listens on
+# Attributes:
+# - Default: DebugObserver
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InteractiveMemoryEditor.DebugObserverTopicName = DebugObserver
+
+
+# ArmarX.InteractiveMemoryEditor.Editor.ConfidenceThreshold: Only objects with a confidence greater than this value are shown.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InteractiveMemoryEditor.Editor.ConfidenceThreshold = 0
+
+
+# ArmarX.InteractiveMemoryEditor.Editor.ObjectScaling: Scaling factor that is applied to all intractable objects.
+# Attributes:
+# - Default: 1.00999999
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InteractiveMemoryEditor.Editor.ObjectScaling = 1.00999999
+
+
+# ArmarX.InteractiveMemoryEditor.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.InteractiveMemoryEditor.EnableProfiling = false
+
+
+# ArmarX.InteractiveMemoryEditor.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.InteractiveMemoryEditor.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.InteractiveMemoryEditor.ObjectMemoryName: Name of the object memory.
+# Attributes:
+# - Default: ObjectMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InteractiveMemoryEditor.ObjectMemoryName = ObjectMemory
+
+
+# ArmarX.InteractiveMemoryEditor.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InteractiveMemoryEditor.ObjectName = ""
+
+
+# ArmarX.InteractiveMemoryEditor.ObjectPoseTopicName: Name of the object pose topic.
+# Attributes:
+# - Default: ObjectPoseTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.InteractiveMemoryEditor.ObjectPoseTopicName = ObjectPoseTopic
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/edit_object_memory/config/global.cfg b/scenarios/edit_object_memory/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..f49a7112c97e55b4b0956b7811c87f912ed9886a
--- /dev/null
+++ b/scenarios/edit_object_memory/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario edit_object_memory
+# ==================================================================
+
diff --git a/scenarios/edit_object_memory/edit_object_memory.scx b/scenarios/edit_object_memory/edit_object_memory.scx
new file mode 100644
index 0000000000000000000000000000000000000000..3a4e04db004a526197b0571500276fca63c646a6
--- /dev/null
+++ b/scenarios/edit_object_memory/edit_object_memory.scx
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="edit_object_memory" creation="2022-10-06.15:51:45" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="ObjectMemoryEditor" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+
diff --git a/scenarios/robot_state_prediction_example/config/RobotStatePredictionClientExample.cfg b/scenarios/robot_state_prediction_example/config/RobotStatePredictionClientExample.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..cafd45782108fea5f823933938463751733671b6
--- /dev/null
+++ b/scenarios/robot_state_prediction_example/config/RobotStatePredictionClientExample.cfg
@@ -0,0 +1,238 @@
+# ==================================================================
+# RobotStatePredictionClientExample properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.RobotStatePredictionClientExample.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStatePredictionClientExample.EnableProfiling = false
+
+
+# ArmarX.RobotStatePredictionClientExample.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.RobotStatePredictionClientExample.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotStatePredictionClientExample.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStatePredictionClientExample.ObjectName = ""
+
+
+# ArmarX.RobotStatePredictionClientExample.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStatePredictionClientExample.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.RobotStatePredictionClientExample.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStatePredictionClientExample.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.RobotStatePredictionClientExample.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStatePredictionClientExample.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.RobotStatePredictionClientExample.p.predictAheadSeconds: How far into the future to predict [s].
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStatePredictionClientExample.p.predictAheadSeconds = 1
+
+
+# ArmarX.RobotStatePredictionClientExample.p.robotName: Name of the robot.
+# Attributes:
+# - Default: Armar6
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStatePredictionClientExample.p.robotName = Armar6
+
+
+# ArmarX.RobotStatePredictionClientExample.p.updateFrequencyHz: Frequency of predictions [Hz].
+# Attributes:
+# - Default: 10
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStatePredictionClientExample.p.updateFrequencyHz = 10
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/robot_state_prediction_example/config/global.cfg b/scenarios/robot_state_prediction_example/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..06e504e09e3cd61958e2dc2c5d617882978b41d7
--- /dev/null
+++ b/scenarios/robot_state_prediction_example/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario robot_state_prediction_example
+# ==================================================================
+
diff --git a/scenarios/robot_state_prediction_example/robot_state_prediction_example.scx b/scenarios/robot_state_prediction_example/robot_state_prediction_example.scx
new file mode 100644
index 0000000000000000000000000000000000000000..2d5de4f038dc12a381b8bc22ae3113ff589b2707
--- /dev/null
+++ b/scenarios/robot_state_prediction_example/robot_state_prediction_example.scx
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="robot_state_prediction_example" creation="2022-08-15.11:20:29" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="RobotStatePredictionClientExample" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+
diff --git a/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp b/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1b2b3df5038078ad16a14af3cb977767129e096d
--- /dev/null
+++ b/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.cpp
@@ -0,0 +1,119 @@
+/*
+ * 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 robdekon
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 06.09.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.h>
+#include <RobotAPI/libraries/aron_component_config/RemoteGui.h>
+#include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
+#include "AronComponentConfigExample.h"
+
+namespace armarx
+{
+
+ void
+ AronComponentConfigExample::onInitComponent()
+ {
+
+ }
+
+ void
+ AronComponentConfigExample::onConnectComponent()
+ {
+ remote_gui_plugin_->createOrUpdateTab(aron_component_config_plugin_->buildRemoteGui("Config"),
+ [this](armarx::RemoteGui::TabProxy& prx)
+ {
+ prx.receiveUpdates();
+ std::lock_guard lock(write_mutex);
+ if (aron_component_config_plugin_->updateRemoteGui(prx))
+ {
+ remote_gui_plugin_->createOrUpdateTab("",
+ aron_component_config_plugin_
+ ->buildRemoteGui(
+ "Config"));
+ }
+ prx.sendUpdates();
+ });
+ periodicTask = new SimplePeriodicTask<>([&, this]
+ {
+ std::lock_guard lock(write_mutex);
+ ARMARX_TRACE;
+ auto& config =
+ aron_component_config_plugin_->config_.getWriteBuffer();
+// ARMARX_INFO << VAROUT(config.orientation) << VAROUT(config.pose) << VAROUT(config.position);
+ config.intMember--;
+ aron_component_config_plugin_->config_.commitWrite();
+ }, 1000);
+ periodicTask->start();
+ }
+
+ void
+ AronComponentConfigExample::onDisconnectComponent()
+ {
+ }
+
+ void
+ AronComponentConfigExample::onExitComponent()
+ {
+ }
+
+ armarx::PropertyDefinitionsPtr
+ AronComponentConfigExample::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs = new AronComponentConfigExamplePropertyDefinitions(getConfigIdentifier());
+ auto& config = aron_component_config_plugin_->config_.getWriteBuffer();
+ config.boolMember = true;
+ config.floatMember = 100.0f;
+ config.intMember = 1000;
+ config.stringMember = "initial";
+ config.longMember = 0;
+ config.subMember
+ .subsubMember
+ .intListMember
+ .insert(config.subMember.subsubMember.intListMember.end(), {1, 2, 3, 4, 5, 6});
+ config.subMember
+ .subsubMember
+ .stringListMember
+ .insert(config.subMember.subsubMember.stringListMember.end(), {"a", "b", "c", "d", "e"});
+ config.subMember.subsubMember.intDictMember.emplace("int1", 1);
+ config.subMember.subsubMember.intDictMember.emplace("int2", 2);
+ config.subMember.subsubMember.stringDictMember.emplace("string1", "blub");
+ config.subMember.subsubMember.stringDictMember.emplace("string2", "duh");
+ aron_component_config_plugin_->config_.commitWrite();
+ return defs;
+ }
+
+ std::string
+ AronComponentConfigExample::getDefaultName() const
+ {
+ return "ComponentConfigTest";
+ }
+
+ AronComponentConfigExample::AronComponentConfigExample()
+ {
+ addPlugin(remote_gui_plugin_, "");
+ addPlugin(aron_component_config_plugin_, "");
+ }
+
+ AronComponentConfigExamplePropertyDefinitions::AronComponentConfigExamplePropertyDefinitions(std::string prefix) :
+ armarx::ComponentPropertyDefinitions(std::move(prefix))
+ {
+ }
+}
\ No newline at end of file
diff --git a/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.h b/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.h
new file mode 100644
index 0000000000000000000000000000000000000000..e466b0a6ae20979766da06f839d31f45b76c3574
--- /dev/null
+++ b/source/RobotAPI/components/AronComponentConfigExample/AronComponentConfigExample.h
@@ -0,0 +1,69 @@
+/*
+ * 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 robdekon
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 06.09.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.aron.generated.h>
+#include <RobotAPI/libraries/aron_component_config/ComponentPlugin.h>
+
+namespace armarx
+{
+
+ class AronComponentConfigExamplePropertyDefinitions :
+ public armarx::ComponentPropertyDefinitions
+ {
+ public:
+ AronComponentConfigExamplePropertyDefinitions(std::string prefix);
+ };
+
+ class AronComponentConfigExample :
+ virtual public armarx::Component
+ {
+ public:
+ std::string getDefaultName() const override;
+
+ /// @see armarx::ManagedIceObject::onInitComponent()
+ void onInitComponent() override;
+
+ /// @see armarx::ManagedIceObject::onConnectComponent()
+ void onConnectComponent() override;
+
+ /// @see armarx::ManagedIceObject::onDisconnectComponent()
+ void onDisconnectComponent() override;
+
+ /// @see armarx::ManagedIceObject::onExitComponent()
+ void onExitComponent() override;
+
+ /// @see PropertyUser::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+ AronComponentConfigExample();
+ private:
+ SimplePeriodicTask<>::pointer_type periodicTask;
+ std::experimental::observer_ptr<plugins::RemoteGuiComponentPlugin> remote_gui_plugin_{nullptr};
+ std::experimental::observer_ptr<plugins::AronComponentConfigPlugin<armarx::component_config::aron::TestConfig>>
+ aron_component_config_plugin_{nullptr};
+ std::mutex write_mutex;
+
+ };
+}
\ No newline at end of file
diff --git a/source/RobotAPI/components/AronComponentConfigExample/CMakeLists.txt b/source/RobotAPI/components/AronComponentConfigExample/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c219bee7094345ac6eb814b9568f711d37431f59
--- /dev/null
+++ b/source/RobotAPI/components/AronComponentConfigExample/CMakeLists.txt
@@ -0,0 +1,26 @@
+armarx_component_set_name("AronComponentConfigExample")
+
+set(COMPONENT_LIBS
+ ArmarXCore ArmarXCoreInterfaces
+ RobotAPICore RobotAPIInterfaces RobotAPIComponentPlugins # for ArViz and other plugins
+ aron_component_config
+ )
+
+set(SOURCES
+ AronComponentConfigExample.cpp
+ )
+set(HEADERS
+ AronComponentConfigExample.h
+ )
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+armarx_enable_aron_file_generation_for_target(
+ TARGET_NAME
+ ${ARMARX_COMPONENT_NAME}
+ ARON_FILES
+ aron/ComponentConfig.xml
+)
+
+#generate the application
+armarx_generate_and_add_component_executable()
\ No newline at end of file
diff --git a/source/RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.xml b/source/RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.xml
new file mode 100644
index 0000000000000000000000000000000000000000..aabd27602d4f4ef4f0313dd00af36ccfa9c2a9dd
--- /dev/null
+++ b/source/RobotAPI/components/AronComponentConfigExample/aron/ComponentConfig.xml
@@ -0,0 +1,105 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+
+ <GenerateTypes>
+
+ <IntEnum name='armarx::component_config::aron::EnumTest'>
+ <EnumValue key="Foo" value="0"/>
+ <EnumValue key="Bar" value="1"/>
+ <EnumValue key="Baz" value="2"/>
+ <EnumValue key="Qux" value="3"/>
+ </IntEnum>
+
+ <Object name='armarx::component_config::aron::SubSubConfig'>
+ <ObjectChild key='stringMember'>
+ <string/>
+ </ObjectChild>
+ <ObjectChild key='intMember'>
+ <int/>
+ </ObjectChild>
+ <ObjectChild key='floatMember'>
+ <float/>
+ </ObjectChild>
+ <ObjectChild key='longMember'>
+ <long/>
+ </ObjectChild>
+ <ObjectChild key='boolMember'>
+ <bool/>
+ </ObjectChild>
+ <ObjectChild key='enumMember'>
+ <armarx::component_config::aron::EnumTest/>
+ </ObjectChild>
+ <ObjectChild key='stringListMember'>
+ <List>
+ <string/>
+ </List>
+ </ObjectChild>
+ <ObjectChild key='intListMember'>
+ <List>
+ <int/>
+ </List>
+ </ObjectChild>
+ <ObjectChild key='stringDictMember'>
+ <Dict>
+ <string/>
+ </Dict>
+ </ObjectChild>
+ <ObjectChild key='intDictMember'>
+ <Dict>
+ <int/>
+ </Dict>
+ </ObjectChild>
+ </Object>
+
+ <Object name='armarx::component_config::aron::SubConfig'>
+ <ObjectChild key='stringMember'>
+ <string/>
+ </ObjectChild>
+ <ObjectChild key='intMember'>
+ <int/>
+ </ObjectChild>
+ <ObjectChild key='floatMember'>
+ <float/>
+ </ObjectChild>
+ <ObjectChild key='doubleMember'>
+ <double/>
+ </ObjectChild>
+ <ObjectChild key='boolMember'>
+ <bool/>
+ </ObjectChild>
+ <ObjectChild key='subsubMember'>
+ <armarx::component_config::aron::SubSubConfig />
+ </ObjectChild>
+ </Object>
+
+ <Object name='armarx::component_config::aron::TestConfig'>
+ <ObjectChild key='stringMember'>
+ <string/>
+ </ObjectChild>
+ <ObjectChild key='intMember'>
+ <int/>
+ </ObjectChild>
+ <ObjectChild key='floatMember'>
+ <float/>
+ </ObjectChild>
+ <ObjectChild key='longMember'>
+ <long/>
+ </ObjectChild>
+ <ObjectChild key='boolMember'>
+ <bool/>
+ </ObjectChild>
+ <ObjectChild key='subMember'>
+ <armarx::component_config::aron::SubConfig />
+ </ObjectChild>
+ <ObjectChild key='position'>
+ <framedposition />
+ </ObjectChild>
+ <ObjectChild key='pose'>
+ <framedpose />
+ </ObjectChild>
+ <ObjectChild key='orientation'>
+ <framedorientation />
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
index 8e172a97d95ed3ce515743a877c8c5bb3ed168d1..77943d887c6833b87a730b1ce45b926273795ad2 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
@@ -32,29 +32,25 @@
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/XML/RobotIO.h>
-#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <ArmarXCore/core/PackagePath.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <ArmarXCore/core/time/CycleUtil.h>
-#include <RobotAPI/libraries/armem/client/query/Builder.h>
-#include <RobotAPI/libraries/armem/client/query/query_fns.h>
#include <RobotAPI/libraries/armem/core/Time.h>
-#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
-#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem_objects/types.h>
namespace armarx::articulated_object
{
- ArticulatedObjectLocalizerExample::ArticulatedObjectLocalizerExample() :
- articulatedObjectWriter(new ::armarx::armem::articulated_object::ArticulatedObjectWriter(memoryNameSystem())),
- articulatedObjectReader(new ::armarx::armem::articulated_object::ArticulatedObjectReader(memoryNameSystem()))
+ ArticulatedObjectLocalizerExample::ArticulatedObjectLocalizerExample()
{
+ addPlugin(articulatedObjectReaderPlugin);
+ addPlugin(articulatedObjectWriterPlugin);
}
- armarx::PropertyDefinitionsPtr ArticulatedObjectLocalizerExample::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr
+ ArticulatedObjectLocalizerExample::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs =
new ComponentPropertyDefinitions(getConfigIdentifier());
@@ -63,60 +59,74 @@ namespace armarx::articulated_object
defs->optional(p.updateFrequency, "updateFrequency", "Memory update frequency (write).");
- // Reader will override some properties of writer.
- articulatedObjectWriter->registerPropertyDefinitions(defs);
- articulatedObjectReader->registerPropertyDefinitions(defs);
+ defs->optional(p.obj.dataset, "p.obj.dataset", "");
+ defs->optional(p.obj.className, "p.obj.class", "");
+
return defs;
}
- std::string ArticulatedObjectLocalizerExample::getDefaultName() const
+ std::string
+ ArticulatedObjectLocalizerExample::getDefaultName() const
{
return "ArticulatedObjectLocalizerExample";
}
- void ArticulatedObjectLocalizerExample::onInitComponent()
+ void
+ ArticulatedObjectLocalizerExample::onInitComponent()
{
+ auto& articulatedObjectReader = articulatedObjectReaderPlugin->get();
+ auto& articulatedObjectWriter = articulatedObjectWriterPlugin->get();
+
// Reader overwrote property registered property of articulatedObjectWriter.
- articulatedObjectWriter->setProviderName(articulatedObjectReader->getProviderName());
+ articulatedObjectWriter.setProviderName(articulatedObjectReader.getProviderName());
}
- void ArticulatedObjectLocalizerExample::onConnectComponent()
+ void
+ ArticulatedObjectLocalizerExample::onConnectComponent()
{
- articulatedObjectWriter->connect();
- articulatedObjectReader->connect();
-
ARMARX_IMPORTANT << "Running example.";
start = armem::Time::Now();
task = new PeriodicTask<ArticulatedObjectLocalizerExample>(
- this, &ArticulatedObjectLocalizerExample::run,
+ this,
+ &ArticulatedObjectLocalizerExample::run,
static_cast<int>(1000.f / p.updateFrequency));
task->start();
}
- void ArticulatedObjectLocalizerExample::onDisconnectComponent()
+ void
+ ArticulatedObjectLocalizerExample::onDisconnectComponent()
{
task->stop();
}
- void ArticulatedObjectLocalizerExample::onExitComponent()
+ void
+ ArticulatedObjectLocalizerExample::onExitComponent()
{
}
- VirtualRobot::RobotPtr ArticulatedObjectLocalizerExample::createDishwasher()
+ VirtualRobot::RobotPtr
+ ArticulatedObjectLocalizerExample::createArticulatedObject()
{
- const std::string dishwasherName = "Kitchen/mobile-dishwasher";
+ auto& articulatedObjectReader = articulatedObjectReaderPlugin->get();
+
+ const std::string dishwasherName = p.obj.dataset + "/" + p.obj.className;
- const auto descriptions = articulatedObjectReader->queryDescriptions(armem::Time::Now());
+ const auto descriptions = articulatedObjectReader.queryDescriptions(armem::Time::Now());
ARMARX_INFO << "Found " << descriptions.size() << " articulated object descriptions";
+ for(const auto& description: descriptions)
+ {
+ ARMARX_INFO << "- " << description.name;
+ }
+
const auto it = std::find_if(
- descriptions.begin(),
- descriptions.end(),
- [&](const armem::articulated_object::ArticulatedObjectDescription & desc) -> bool
- { return desc.name == dishwasherName; });
+ descriptions.begin(),
+ descriptions.end(),
+ [&](const armem::articulated_object::ArticulatedObjectDescription& desc) -> bool
+ { return desc.name == dishwasherName; });
if (it == descriptions.end())
{
@@ -133,21 +143,21 @@ namespace armarx::articulated_object
return nullptr;
}
- obj->setName("MobileDishwasher0");
- obj->setType(it->name);
+ obj->setName("0"); // aka instance name
+ obj->setType(it->name); // aka dataset/class name
return obj;
}
-
- void ArticulatedObjectLocalizerExample::run()
+ void
+ ArticulatedObjectLocalizerExample::run()
{
- if (dishwasher == nullptr)
+ if (articulatedObject == nullptr)
{
- dishwasher = createDishwasher();
+ articulatedObject = createArticulatedObject();
- if (dishwasher == nullptr) // still
+ if (articulatedObject == nullptr) // still
{
return;
}
@@ -156,21 +166,24 @@ namespace armarx::articulated_object
ARMARX_DEBUG << "Reporting articulated objects";
const armem::Time now = armem::Time::Now();
- const float t = float((now - start).toSecondsDouble());
+ const float t = static_cast<float>((now - start).toSecondsDouble());
// move joints at certain frequency
const float k = (1 + std::sin(t / (M_2_PIf32))) / 2; // in [0,1]
- const std::map<std::string, float> jointValues
+ auto jointValues = articulatedObject->getJointValues();
+
+ for (auto& [name, jointValue] : jointValues)
{
- {"dishwasher_door_joint", M_PIf32 / 2 * k},
- {"drawer_joint", 350 * k}
- };
+ const auto node = articulatedObject->getRobotNode(name);
+ jointValue = node->unscaleJointValue(k, 0, 1);
+ }
- dishwasher->setGlobalPose(simox::math::pose(Eigen::Vector3f(1000, 0, 0)));
- dishwasher->setJointValues(jointValues);
+ articulatedObject->setGlobalPose(simox::math::pose(Eigen::Vector3f(1000, 0, 0)));
+ articulatedObject->setJointValues(jointValues);
- articulatedObjectWriter->storeArticulatedObject(dishwasher, now);
+ auto& articulatedObjectWriter = articulatedObjectWriterPlugin->get();
+ articulatedObjectWriter.storeArticulatedObject(articulatedObject, now);
}
} // namespace armarx::articulated_object
diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
index d401eed5e741d3d797dfaa8a47f347f4616a53db..384068048dd1ab8d1457065d15873de08ff7b82b 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
@@ -3,17 +3,19 @@
#include <VirtualRobot/VirtualRobot.h>
-#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/util/tasks.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
-#include <RobotAPI/libraries/armem/core/Time.h>
+#include "RobotAPI/libraries/ArmarXObjects/ObjectID.h"
+#include "RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h"
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/libraries/armem/client/plugins.h>
+#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h>
#include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h>
@@ -53,8 +55,8 @@ namespace armarx::articulated_object
void run();
private:
- VirtualRobot::RobotPtr createDishwasher();
- std::shared_ptr<VirtualRobot::Robot> dishwasher;
+ VirtualRobot::RobotPtr createArticulatedObject();
+ std::shared_ptr<VirtualRobot::Robot> articulatedObject;
/// Reference timestamp for object movement
armem::Time start;
@@ -63,13 +65,23 @@ namespace armarx::articulated_object
armarx::DebugObserverInterfacePrx debugObserver;
- std::unique_ptr<::armarx::armem::articulated_object::ArticulatedObjectWriter> articulatedObjectWriter;
- std::unique_ptr<::armarx::armem::articulated_object::ArticulatedObjectReader>
- articulatedObjectReader;
+ armem::client::plugins::ReaderWriterPlugin<
+ ::armarx::armem::articulated_object::ArticulatedObjectWriter>*
+ articulatedObjectWriterPlugin = nullptr;
+
+ armem::client::plugins::ReaderWriterPlugin<
+ ::armarx::armem::articulated_object::ArticulatedObjectReader>*
+ articulatedObjectReaderPlugin = nullptr;
struct Properties
{
float updateFrequency{25.F};
+
+ struct
+ {
+ std::string dataset = "Kitchen";
+ std::string className = "mobile-dishwasher";
+ } obj;
} p;
};
diff --git a/source/RobotAPI/components/CMakeLists.txt b/source/RobotAPI/components/CMakeLists.txt
index 7debb7e6f4aa280c4e28cc1a40bbc59af0bf25c3..11908aeda6ade0ff4b46f63d0590c88d007e51c9 100644
--- a/source/RobotAPI/components/CMakeLists.txt
+++ b/source/RobotAPI/components/CMakeLists.txt
@@ -3,6 +3,7 @@ add_subdirectory(units)
add_subdirectory(armem)
add_subdirectory(skills)
+add_subdirectory(AronComponentConfigExample)
add_subdirectory(ArticulatedObjectLocalizerExample)
add_subdirectory(ArViz)
@@ -32,3 +33,5 @@ add_subdirectory(RobotToArViz)
add_subdirectory(StatechartExecutorExample)
add_subdirectory(TopicTimingTest)
add_subdirectory(ViewSelection)
+
+add_subdirectory(ObjectMemoryEditor)
diff --git a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
index 9b0bacd5092012472d3f975e1c6d40357ba6594c..da5945c44c7e289081df35385ea7e75184d69c90 100644
--- a/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
+++ b/source/RobotAPI/components/GamepadControlUnit/GamepadControlUnit.h
@@ -31,6 +31,7 @@
#include <RobotAPI/interface/units/HandUnitInterface.h>
#include <RobotAPI/interface/components/RobotHealthInterface.h>
+#include <RobotAPI/interface/units/PlatformUnitInterface.h>
namespace armarx
{
@@ -129,4 +130,3 @@ namespace armarx
};
}
-
diff --git a/source/RobotAPI/components/ObjectMemoryEditor/CMakeLists.txt b/source/RobotAPI/components/ObjectMemoryEditor/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3c9023550e1d93a2d4bd1b8a0a61b8a5fdc7bd5d
--- /dev/null
+++ b/source/RobotAPI/components/ObjectMemoryEditor/CMakeLists.txt
@@ -0,0 +1,29 @@
+armarx_component_set_name("ObjectMemoryEditor")
+
+
+set(COMPONENT_LIBS
+ # ArmarXCore
+ ArmarXCoreComponentPlugins
+ # RobotAPI
+ RobotAPI::ArmarXObjects
+ RobotAPI::ArViz
+ RobotAPI::ComponentPlugins
+)
+
+set(SOURCES
+ ObjectMemoryEditor.cpp
+ InteractionObserver.cpp
+ Editor.cpp
+)
+set(HEADERS
+ ObjectMemoryEditor.h
+ InteractionObserver.h
+ Editor.h
+)
+
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+
+#generate the application
+armarx_generate_and_add_component_executable()
diff --git a/source/RobotAPI/components/ObjectMemoryEditor/Editor.cpp b/source/RobotAPI/components/ObjectMemoryEditor/Editor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..74bdd96793868911322b960af2973a0576809e93
--- /dev/null
+++ b/source/RobotAPI/components/ObjectMemoryEditor/Editor.cpp
@@ -0,0 +1,547 @@
+#include "Editor.h"
+
+#include <RobotAPI/libraries/ArmarXObjects/ProvidedObjectPose.h>
+#include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
+
+#include <utility>
+
+namespace armarx
+{
+ Editor::Editor(viz::Client& client,
+ Properties properties,
+ std::function<void(objpose::ProvidedObjectPoseSeq &)> pushToMemory,
+ std::function<objpose::ObjectPoseSeq(void)> pullFromMemory)
+ : properties(std::move(properties))
+ , client(client)
+ , pushToMemory(std::move(pushToMemory))
+ , pullFromMemory(std::move(pullFromMemory))
+ , isCommitRequired(false)
+ , isUpdateRequired(true)
+ , isMemoryVizRequired(true)
+ , isMetaVizRequired(true)
+ {
+ placeholderOptions.emplace_back("Remove");
+ placeholderOptions.emplace_back(lineString);
+
+ for (auto const& availableObject : this->properties.availableObjects)
+ {
+ placeholderOptions.push_back(armarx::fromIce(availableObject).str());
+ }
+ }
+
+ void Editor::step()
+ {
+ viz::StagedCommit stage = client.stage();
+
+ if (isUpdateRequired)
+ {
+ storedPoses = update();
+
+ isUpdateRequired = false;
+ }
+
+ if (isResetRequired)
+ {
+ reset();
+
+ isResetRequired = false;
+ }
+
+ if (isMemoryVizRequired)
+ {
+ visualizeMemory();
+ stage.add(memoryLayer);
+
+ isMemoryVizRequired = false;
+ }
+
+ if (isMetaVizRequired)
+ {
+ visualizeMeta();
+ stage.add(metaLayer);
+
+ isMetaVizRequired = false;
+ }
+
+ if (isCommitRequired)
+ {
+ commit();
+
+ isCommitRequired = false;
+ }
+
+ observer.requestInteractions(stage);
+
+ viz::CommitResult result = client.commit(stage);
+
+ observer.process(result.interactions());
+ }
+
+ objpose::ObjectPoseSeq
+ Editor::update()
+ {
+ objpose::ObjectPoseSeq newRequestedPoses = pullFromMemory();
+
+ isMemoryVizRequired = true;
+
+ return newRequestedPoses;
+ }
+
+ void Editor::reset()
+ {
+ changes.clear();
+
+ isMemoryVizRequired = true;
+ }
+
+ void Editor::commit()
+ {
+ changes.moveNewObjectsTo(storedPoses);
+
+ objpose::ProvidedObjectPoseSeq providingPoses;
+ objpose::ObjectPoseSeq remainingPoses;
+
+ remainingPoses.reserve(storedPoses.size());
+ for (objpose::ObjectPose & current : storedPoses)
+ {
+ bool isChanged = changes.applyTo(current);
+
+ if (isChanged)
+ {
+ providingPoses.push_back(current.toProvidedObjectPoseGlobal());
+ objpose::ProvidedObjectPose& providing = providingPoses.back();
+
+ providing.providerName = properties.providerName;
+ providing.timestamp = DateTime::Now();
+ }
+
+ if (current.confidence > properties.confidenceThreshold)
+ {
+ remainingPoses.push_back(current);
+ }
+ }
+
+ pushToMemory(providingPoses);
+
+ changes.clear();
+ storedPoses = remainingPoses;
+
+ isMemoryVizRequired = true;
+ }
+
+ void Editor::visualizeMemory()
+ {
+ observer.clearObservedLayer(memoryLayer);
+
+ for (objpose::ObjectPose & objectPose: storedPoses)
+ {
+ if (objectPose.confidence > properties.confidenceThreshold)
+ {
+ visualizeObject(objectPose);
+ }
+ }
+
+ changes.visualizeNewObjects();
+ }
+
+ void Editor::visualizeObject(objpose::ObjectPose& objectPose)
+ {
+ VisualizationDescription description = changes.buildVisualizationDescription(objectPose);
+
+ viz::InteractionDescription interaction = viz::interaction().selection();
+
+ if (description.allowTransforming)
+ {
+ interaction.transform().hideDuringTransform();
+ }
+
+ if (not description.options.empty())
+ {
+ interaction.contextMenu(description.options);
+ }
+
+ viz::Object object =
+ viz::Object(objectPose.objectID.str())
+ .pose(description.transform * objectPose.objectPoseGlobal)
+ .scale(properties.objectScaling)
+ .fileByObjectFinder(objectPose.objectID)
+ .enable(interaction);
+
+ if (description.alpha.has_value())
+ {
+ object.alpha(description.alpha.value());
+ }
+
+ if (description.color.has_value())
+ {
+ object.overrideColor(description.color.value());
+ }
+
+ observer.addObserved(memoryLayer, object)
+ .onContextMenu(description.cloneIndex, [this, &objectPose]
+ {
+ changes.cloneObject(objectPose);
+ isMemoryVizRequired = true;
+ })
+ .onContextMenu(description.deleteIndex, [this, &objectPose]
+ {
+ changes.deleteObject(objectPose);
+ isMemoryVizRequired = true;
+ })
+ .onContextMenu(description.resetIndex, [this, &objectPose]
+ {
+ changes.resetObject(objectPose);
+ isMemoryVizRequired = true;
+ })
+ .onContextMenu(description.prototypeIndex, [this, &objectPose]
+ {
+ const float defaultExtents = 100;
+ simox::OrientedBoxf box(objectPose.objectPoseGlobal, Eigen::Vector3f(defaultExtents, defaultExtents, defaultExtents));
+
+ box = objectPose.oobbGlobal().value_or(box);
+ box = box.transformed(changes.getTransform(objectPose));
+
+ placeholders.addPlaceholder(box);
+ isMetaVizRequired = true;
+ })
+ .onContextMenu(description.commitIndex, [this]
+ {
+ isCommitRequired = true;
+ })
+ .onContextMenu(description.updateIndex, [this]
+ {
+ isUpdateRequired = true;
+ })
+ .onContextMenu(description.resetAllIndex, [this]
+ {
+ isResetRequired = true;
+ })
+ .onTransformEnd([this, &objectPose](const Eigen::Matrix4f& transform)
+ {
+ changes.moveObject(objectPose, transform);
+ isMemoryVizRequired = true;
+ });
+ }
+
+ void Editor::visualizeMeta()
+ {
+ observer.clearObservedLayer(metaLayer);
+
+ placeholders.visualizePlaceholders();
+ }
+
+ void Editor::visualizePlaceholder(PlaceholderState::Placeholder const& placeholder, size_t id)
+ {
+ viz::InteractionDescription interaction = viz::interaction()
+ .selection().transform().hideDuringTransform().contextMenu(placeholderOptions);
+
+ viz::Box box = viz::Box("placeholder_" + std::to_string(id))
+ .set(placeholder.box.transformed(placeholder.transform))
+ .color(simox::Color::yellow(255, 128))
+ .enable(interaction);
+
+ auto& observation = observer.addObserved(metaLayer, box)
+ .onContextMenu(0, [this, id]()
+ {
+ placeholders.removePlaceholder(id);
+ isMetaVizRequired = true;
+ })
+ .onTransformEnd([this, id](Eigen::Matrix4f const& transform)
+ {
+ placeholders.movePlaceholder(id, transform);
+ isMetaVizRequired = true;
+ });
+
+ for (size_t index = 2; index < placeholderOptions.size(); index++)
+ {
+ std::string const& object = placeholderOptions[index];
+
+ observation.onContextMenu(index, [this, id, &object]
+ {
+ placeholders.specifyObject(id, object, changes);
+
+ isMetaVizRequired = true;
+ isMemoryVizRequired = true;
+ });
+ }
+ }
+
+ void ChangeState::clear()
+ {
+ changed.clear();
+ newPoses.clear();
+ }
+
+ void ChangeState::moveNewObjectsTo(objpose::ObjectPoseSeq& seq)
+ {
+ seq.insert(seq.begin(), newPoses.begin(), newPoses.end());
+ newPoses.clear();
+ }
+
+ bool ChangeState::applyTo(objpose::ObjectPose& pose)
+ {
+ auto iterator = changed.find(pose.objectID.str());
+ bool isChanged = iterator != changed.end();
+
+ if (isChanged)
+ {
+ auto& [name, change] = *iterator;
+
+ if (change.kind == DELETE)
+ {
+ pose.confidence = 0;
+ }
+
+ pose.objectPoseGlobal = change.transform * pose.objectPoseGlobal;
+ }
+
+ return isChanged;
+ }
+
+ void ChangeState::visualizeNewObjects()
+ {
+ for (objpose::ObjectPose & objectPose: newPoses)
+ {
+ editor->visualizeObject(objectPose);
+ }
+ }
+
+ VisualizationDescription ChangeState::buildVisualizationDescription(objpose::ObjectPose& object)
+ {
+ VisualizationDescription description;
+
+ auto iterator = changed.find(object.objectID.str());
+ bool isChanged = iterator != changed.end();
+
+ ChangeKind kind = MOVE;
+ if (isChanged)
+ {
+ auto& [name, change] = *iterator;
+ kind = change.kind;
+ }
+
+ description.allowTransforming = kind != DELETE;
+
+ size_t currentIndex = 0;
+
+ if (kind == MOVE)
+ {
+ description.options.emplace_back("Clone");
+ description.cloneIndex = currentIndex++;
+
+ description.options.emplace_back("Delete");
+ description.deleteIndex = currentIndex++;
+ }
+
+ if (isChanged)
+ {
+ auto& [name, change] = *iterator;
+
+ description.options.emplace_back("Reset");
+ description.resetIndex = currentIndex++;
+
+ description.transform = change.transform;
+
+ const float alpha = 0.5;
+
+ switch (kind)
+ {
+ case MOVE:
+ description.alpha = alpha;
+ break;
+
+ case CREATE:
+ description.color = simox::Color(0.0F, 1.0F, 0.0F, alpha);
+ break;
+
+ case DELETE:
+ description.color = simox::Color(1.0F, 0.0F, 0.0F, alpha);
+ break;
+ }
+ }
+
+ description.options.emplace_back("Create Placeholder");
+ description.prototypeIndex = currentIndex++;
+
+ description.options.emplace_back(Editor::lineString);
+ currentIndex++;
+
+ description.options.emplace_back("Commit All Changes");
+ description.commitIndex = currentIndex++;
+
+ description.options.emplace_back("Update Unchanged");
+ description.updateIndex = currentIndex++;
+
+ description.options.emplace_back("Reset All");
+ description.resetAllIndex = currentIndex; // ++
+
+ return description;
+ }
+
+ void ChangeState::cloneObject(objpose::ObjectPose const& object)
+ {
+ std::string suffix = std::to_string(std::chrono::duration_cast<std::chrono::seconds>(
+ std::chrono::system_clock::now().time_since_epoch()).count());
+
+ objpose::ObjectPose& newPose = newPoses.emplace_back(object);
+ newPose.objectID = object.objectID.withInstanceName(object.objectID.instanceName() + suffix);
+
+ const float minOffset = 100;
+ float offset = minOffset;
+ if (object.localOOBB.has_value())
+ {
+ Eigen::Vector3f size = object.localOOBB.value().corner_max() - object.localOOBB.value().corner_min();
+ float objectOffset = size.maxCoeff() / 2;
+
+ offset = std::max(minOffset, objectOffset);
+ }
+
+ Change& clonedChange = changed[newPose.objectID.str()];
+ clonedChange.kind = CREATE;
+ // Heuristic: Don't shift in Z direction to ease creation in a horizontal plane.
+ clonedChange.transform = Eigen::Affine3f(Eigen::Translation3f(offset, offset, 0)).matrix();
+ clonedChange.iterator = std::prev(newPoses.end());
+
+ auto iterator = changed.find(object.objectID.str());
+ if (iterator != changed.end())
+ {
+ auto& [name, originalChange] = *iterator;
+ clonedChange.transform *= originalChange.transform;
+ }
+ }
+
+ void ChangeState::createObject(const std::string &objectID, const Eigen::Matrix4f &pose)
+ {
+ std::string suffix = std::to_string(std::chrono::duration_cast<std::chrono::seconds>(
+ std::chrono::system_clock::now().time_since_epoch()).count());
+
+ objpose::ObjectPose& newPose = newPoses.emplace_back();
+
+ armarx::ObjectID id(objectID);
+ newPose.objectID = id.withInstanceName(id.instanceName() + suffix);
+
+ newPose.providerName = editor->properties.providerName;
+ newPose.objectType = objpose::ObjectType::KnownObject;
+ newPose.isStatic = true;
+
+ newPose.objectPoseGlobal = pose;
+ newPose.confidence = 1;
+ newPose.timestamp = DateTime::Now();
+
+ std::optional<armarx::ObjectInfo> info = editor->objectFinder.findObject(id);
+ if (info.has_value())
+ {
+ newPose.localOOBB = info->loadOOBB();
+
+ if (newPose.localOOBB.has_value())
+ {
+ newPose.objectPoseGlobal = pose * newPose.localOOBB->transformation_centered().inverse();
+ }
+ }
+
+ Change& createdChange = changed[newPose.objectID.str()];
+ createdChange.kind = CREATE;
+ createdChange.transform = Eigen::Matrix4f::Identity();
+ createdChange.iterator = std::prev(newPoses.end());
+ }
+
+ void ChangeState::deleteObject(const objpose::ObjectPose& object)
+ {
+ changed[object.objectID.str()].kind = DELETE;
+ }
+
+ void ChangeState::resetObject(const objpose::ObjectPose& object)
+ {
+ auto iterator = changed.find(object.objectID.str());
+ if (iterator != changed.end())
+ {
+ auto& [name, change] = *iterator;
+
+ if (change.kind == CREATE)
+ {
+ newPoses.erase(change.iterator);
+ }
+
+ changed.erase(iterator);
+ }
+ }
+
+ void ChangeState::moveObject(const objpose::ObjectPose& object, const Eigen::Matrix4f& transform)
+ {
+ Change& change = changed[object.objectID.str()];
+ change.transform = transform * change.transform;
+ }
+
+ Eigen::Matrix4f ChangeState::getTransform(const objpose::ObjectPose &object)
+ {
+ Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
+
+ auto iterator = changed.find(object.objectID.str());
+ if (iterator != changed.end())
+ {
+ auto& [name, change] = *iterator;
+ transform = change.transform;
+ }
+
+ return transform;
+ }
+
+ void PlaceholderState::addPlaceholder(simox::OrientedBoxf box)
+ {
+ size_t id = getID();
+
+ auto& entry = placeholders[id];
+ entry.placeholder = { .box = std::move(box), .transform = Eigen::Matrix4f::Identity() };
+ entry.isActive = true;
+ }
+
+ void PlaceholderState::visualizePlaceholders()
+ {
+ for (size_t id = 0; id < placeholders.size(); id++)
+ {
+ auto& entry = placeholders[id];
+
+ if (entry.isActive)
+ {
+ editor->visualizePlaceholder(entry.placeholder, id);
+ }
+ }
+ }
+
+ void PlaceholderState::movePlaceholder(size_t id, Eigen::Matrix4f const& transform)
+ {
+ auto& placeholder = placeholders[id].placeholder;
+ placeholder.transform = transform * placeholder.transform;
+ }
+
+ void PlaceholderState::removePlaceholder(size_t id)
+ {
+ placeholders[id].isActive = false;
+
+ unusedIDs.push(id);
+ }
+
+ size_t PlaceholderState::getID()
+ {
+ if (unusedIDs.empty())
+ {
+ size_t id = placeholders.size();
+ placeholders.push_back({Placeholder(), false});
+ return id;
+ }
+
+ size_t id = unusedIDs.top();
+ unusedIDs.pop();
+ return id;
+ }
+
+ void PlaceholderState::specifyObject(size_t id, std::string const& objectID, ChangeState& changeState)
+ {
+ auto& placeholder = placeholders[id].placeholder;
+
+ Eigen::Matrix4f pose = placeholder.box.transformed(placeholder.transform).transformation_centered();
+ changeState.createObject(objectID, pose);
+
+ removePlaceholder(id);
+ }
+} // namespace armarx
diff --git a/source/RobotAPI/components/ObjectMemoryEditor/Editor.h b/source/RobotAPI/components/ObjectMemoryEditor/Editor.h
new file mode 100644
index 0000000000000000000000000000000000000000..f1a6ebc2a168de7938e552b44f1d2144a915dd35
--- /dev/null
+++ b/source/RobotAPI/components/ObjectMemoryEditor/Editor.h
@@ -0,0 +1,181 @@
+#pragma once
+
+#include <list>
+
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h>
+#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
+#include <RobotAPI/components/ObjectMemoryEditor/InteractionObserver.h>
+
+namespace armarx
+{
+
+ class Editor;
+
+
+ struct VisualizationDescription
+ {
+ Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
+ bool allowTransforming = true;
+
+ std::vector<std::string> options {};
+ std::optional<float> alpha {};
+ std::optional<simox::Color> color {};
+
+ // Context menu indices.
+ size_t cloneIndex = std::numeric_limits<size_t>::max();
+ size_t deleteIndex = std::numeric_limits<size_t>::max();
+ size_t resetIndex = std::numeric_limits<size_t>::max();
+ size_t prototypeIndex = std::numeric_limits<size_t>::max();
+ size_t commitIndex = std::numeric_limits<size_t>::max();
+ size_t updateIndex = std::numeric_limits<size_t>::max();
+ size_t resetAllIndex = std::numeric_limits<size_t>::max();
+ };
+
+
+
+ class ChangeState
+ {
+ public:
+ explicit ChangeState(Editor* editor) : editor(editor) {} ;
+
+ void clear();
+ void moveNewObjectsTo(objpose::ObjectPoseSeq& seq);
+ bool applyTo(objpose::ObjectPose& pose);
+ void visualizeNewObjects();
+ VisualizationDescription buildVisualizationDescription(objpose::ObjectPose& object);
+ Eigen::Matrix4f getTransform(objpose::ObjectPose const& object);
+
+ void cloneObject(objpose::ObjectPose const& object);
+ void createObject(std::string const& objectID, Eigen::Matrix4f const& pose);
+ void deleteObject(objpose::ObjectPose const& object);
+ void resetObject(objpose::ObjectPose const& object);
+ void moveObject(objpose::ObjectPose const& object, Eigen::Matrix4f const& transform);
+
+ private:
+ enum ChangeKind
+ {
+ MOVE,
+ CREATE,
+ DELETE
+ };
+
+ using ObjectPoseList = std::list<objpose::ObjectPose>;
+
+ struct Change
+ {
+ ChangeKind kind = MOVE;
+ Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
+ ObjectPoseList::iterator iterator {};
+ };
+
+ Editor* editor;
+
+ ObjectPoseList newPoses;
+ std::map<std::string, Change> changed;
+ };
+
+
+
+ class PlaceholderState
+ {
+ public:
+ explicit PlaceholderState(Editor* editor) : editor(editor) {} ;
+
+ struct Placeholder
+ {
+ simox::OrientedBoxf box;
+ Eigen::Matrix4f transform;
+ };
+
+ void addPlaceholder(simox::OrientedBoxf box);
+ void visualizePlaceholders();
+ void movePlaceholder(size_t id, Eigen::Matrix4f const& transform);
+ void removePlaceholder(size_t id);
+ void specifyObject(size_t id, std::string const& objectID, ChangeState& changeState);
+
+ private:
+ size_t getID();
+
+ Editor* editor;
+
+ std::priority_queue<size_t, std::vector<size_t>, std::greater<>> unusedIDs;
+ struct PlaceholderEntry
+ {
+ Placeholder placeholder;
+ bool isActive;
+ };
+ std::vector<PlaceholderEntry> placeholders;
+ };
+
+
+
+ class Editor
+ {
+ public:
+ struct Properties
+ {
+ std::string providerName;
+
+ float const& objectScaling;
+ float const& confidenceThreshold;
+
+ std::vector<data::ObjectID> const& availableObjects;
+ };
+
+
+ public:
+
+ explicit Editor(viz::Client& client,
+ Properties properties,
+ std::function<void(objpose::ProvidedObjectPoseSeq&)> pushToMemory,
+ std::function<objpose::ObjectPoseSeq(void)> pullFromMemory);
+ void step();
+
+ private:
+
+ void visualizeMemory();
+ void visualizeMeta();
+
+ void commit();
+ objpose::ObjectPoseSeq update();
+ void reset();
+
+ void visualizeObject(objpose::ObjectPose &objectPose);
+ void visualizePlaceholder(PlaceholderState::Placeholder const& placeholder, size_t id);
+
+ private:
+ static constexpr const char* memoryLayerName = "Memory";
+ static constexpr const char* metaLayerName = "Meta";
+ static constexpr const char* lineString = "---------------------------";
+
+ std::vector<std::string> placeholderOptions;
+
+ Properties properties;
+ ObjectFinder objectFinder;
+
+ viz::Client& client;
+ const std::function<void(objpose::ProvidedObjectPoseSeq&)> pushToMemory;
+ const std::function<objpose::ObjectPoseSeq(void)> pullFromMemory;
+
+ viz::Layer memoryLayer {client.layer(memoryLayerName)};
+ viz::Layer metaLayer {client.layer(metaLayerName)};
+
+ InteractionObserver observer;
+
+ objpose::ObjectPoseSeq storedPoses;
+
+ ChangeState changes{this};
+ PlaceholderState placeholders{this};
+
+ bool isCommitRequired;
+ bool isUpdateRequired;
+ bool isResetRequired;
+ bool isMemoryVizRequired;
+ bool isMetaVizRequired;
+
+ friend ChangeState;
+ friend PlaceholderState;
+ };
+} // namespace armarx
diff --git a/source/RobotAPI/components/ObjectMemoryEditor/InteractionObserver.cpp b/source/RobotAPI/components/ObjectMemoryEditor/InteractionObserver.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c226e57a72b071eaf93c45ea52e5b1906789a54c
--- /dev/null
+++ b/source/RobotAPI/components/ObjectMemoryEditor/InteractionObserver.cpp
@@ -0,0 +1,74 @@
+#include "InteractionObserver.h"
+
+#include <utility>
+
+armarx::InteractionObserver::Observation &
+armarx::InteractionObserver::Observation::onContextMenu(size_t index, std::function<void()> action)
+{
+ contextMenuActions[index] = std::move(action);
+ return *this;
+}
+
+armarx::InteractionObserver::Observation &
+armarx::InteractionObserver::Observation::onTransformEnd(std::function<void(Eigen::Matrix4f const&)> action)
+{
+ transformEndAction = std::make_optional(std::move(action));
+ return *this;
+}
+
+void armarx::InteractionObserver::Observation::process(viz::InteractionFeedback const& interaction)
+{
+ if (interaction.type() == viz::InteractionFeedbackType::ContextMenuChosen)
+ {
+ auto iterator = contextMenuActions.find(interaction.chosenContextMenuEntry());
+
+ if (iterator != contextMenuActions.end())
+ {
+ auto [index, action] = *iterator;
+ action();
+ }
+ }
+
+ if (interaction.type() == viz::InteractionFeedbackType::Transform && interaction.isTransformEnd())
+ {
+ if (transformEndAction.has_value())
+ {
+ transformEndAction.value()(interaction.transformation());
+ }
+ }
+}
+
+void armarx::InteractionObserver::clearObservedLayer(armarx::viz::Layer & layer)
+{
+ layer.clear();
+ observedLayers.erase(layer.data_.name);
+}
+
+void armarx::InteractionObserver::requestInteractions(armarx::viz::StagedCommit& stage)
+{
+ for (auto& [name, observedLayer] : observedLayers)
+ {
+ stage.requestInteraction(observedLayer.layer);
+ }
+}
+
+void armarx::InteractionObserver::process(viz::InteractionFeedbackRange const& interactions)
+{
+ for (viz::InteractionFeedback const& interaction: interactions)
+ {
+ auto layerIterator = observedLayers.find(interaction.layer());
+
+ if (layerIterator != observedLayers.end())
+ {
+ auto& [name, layer] = *layerIterator;
+
+ auto observationIterator = layer.observations.find(interaction.element());
+
+ if (observationIterator != layer.observations.end())
+ {
+ auto& [element, observation] = *observationIterator;
+ observation.process(interaction);
+ }
+ }
+ }
+}
diff --git a/source/RobotAPI/components/ObjectMemoryEditor/InteractionObserver.h b/source/RobotAPI/components/ObjectMemoryEditor/InteractionObserver.h
new file mode 100644
index 0000000000000000000000000000000000000000..b26ed2aca18754f22f5eead0ad345981b5ec0ae4
--- /dev/null
+++ b/source/RobotAPI/components/ObjectMemoryEditor/InteractionObserver.h
@@ -0,0 +1,55 @@
+#pragma once
+
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+
+namespace armarx
+{
+ class InteractionObserver
+ {
+ public:
+ class Observation
+ {
+ public:
+ Observation& onContextMenu(size_t index, std::function<void()> action);
+ Observation& onTransformEnd(std::function<void(Eigen::Matrix4f const&)> action);
+
+ void process(viz::InteractionFeedback const& interaction);
+
+ private:
+ std::map<size_t, std::function<void()>> contextMenuActions;
+ std::optional<std::function<void(Eigen::Matrix4f const&)>> transformEndAction;
+ };
+
+ template <typename ElementT>
+ Observation& addObserved(viz::Layer & layer, ElementT const& element)
+ {
+ layer.add(element);
+
+ auto iterator = observedLayers.find(layer.data_.name);
+
+ if (iterator == observedLayers.end())
+ {
+ std::tie(iterator, std::ignore) = observedLayers.emplace(layer.data_.name, layer);
+ }
+
+ auto& [name, observedLayer] = *iterator;
+ return observedLayer.observations[element.data_->id];
+ }
+
+ void clearObservedLayer(viz::Layer & layer);
+
+ void requestInteractions(viz::StagedCommit & stage);
+ void process(viz::InteractionFeedbackRange const& interactions);
+
+ private:
+ struct ObservedLayer
+ {
+ explicit ObservedLayer(viz::Layer & layer) : layer(layer) {}
+
+ std::reference_wrapper<viz::Layer> layer;
+ std::map<std::string, Observation> observations;
+ };
+
+ std::map<std::string, ObservedLayer> observedLayers;
+ };
+} // namespace armarx
diff --git a/source/RobotAPI/components/ObjectMemoryEditor/ObjectMemoryEditor.cpp b/source/RobotAPI/components/ObjectMemoryEditor/ObjectMemoryEditor.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e723f5e467d7d6588084ee5366753d64ca112a03
--- /dev/null
+++ b/source/RobotAPI/components/ObjectMemoryEditor/ObjectMemoryEditor.cpp
@@ -0,0 +1,115 @@
+#include "ObjectMemoryEditor.h"
+
+#include <ArmarXCore/core/time/Metronome.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
+#include <RobotAPI/libraries/ArmarXObjects/ProvidedObjectPose.h>
+
+#include "Editor.h"
+
+namespace armarx
+{
+ armarx::PropertyDefinitionsPtr ObjectMemoryEditor::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+
+ defs->optional(this->objectScaling, "Editor.ObjectScaling",
+ "Scaling factor that is applied to all intractable objects.");
+
+ defs->optional(this->confidenceThreshold, "Editor.ConfidenceThreshold",
+ "Only objects with a confidence greater than this value are shown.");
+
+ return defs;
+ }
+
+ std::string ObjectMemoryEditor::getDefaultName() const
+ {
+ return "InteractiveMemoryEditor";
+ }
+
+ void ObjectMemoryEditor::onInitComponent()
+ {
+ {
+ providerInfo.objectType = objpose::ObjectType::KnownObject;
+
+ for (const auto& dataset : objectFinder.getDatasets())
+ {
+ std::vector<ObjectInfo> objects = objectFinder.findAllObjectsOfDataset(dataset);
+
+ for (const auto& obj: objects)
+ {
+ providerInfo.supportedObjects.push_back(armarx::toIce(obj.id()));
+ }
+ }
+ }
+ }
+
+ void ObjectMemoryEditor::onConnectComponent()
+ {
+ setDebugObserverBatchModeEnabled(true);
+
+ objectVizTask = new SimpleRunningTask<>([this]()
+ {
+ this->run();
+ });
+ objectVizTask->start();
+ }
+
+ void ObjectMemoryEditor::onDisconnectComponent()
+ {
+ }
+
+ void ObjectMemoryEditor::onExitComponent()
+ {
+ }
+
+
+ void ObjectMemoryEditor::run()
+ {
+ objpose::ObjectPoseClient client = getClient();
+
+ Editor::Properties properties =
+ {
+ .providerName = getName(),
+ .objectScaling = objectScaling,
+ .confidenceThreshold = confidenceThreshold,
+ .availableObjects = providerInfo.supportedObjects,
+ };
+
+ Editor editor(arviz, properties,
+ [this](objpose::ProvidedObjectPoseSeq &poses)
+ {
+ objectPoseTopic->reportObjectPoses(getName(), objpose::toIce(poses));
+ },
+ [client]() -> objpose::ObjectPoseSeq
+ {
+ return client.fetchObjectPoses();
+ });
+
+ Metronome metronome(Frequency::Hertz(20));
+ while (objectVizTask and not objectVizTask->isStopped())
+ {
+ editor.step();
+
+ metronome.waitForNextTick();
+ }
+ }
+
+ objpose::ProviderInfo ObjectMemoryEditor::getProviderInfo(const Ice::Current & /*unused*/)
+ {
+ return providerInfo;
+ }
+
+ objpose::provider::RequestObjectsOutput ObjectMemoryEditor::requestObjects(
+ const objpose::provider::RequestObjectsInput &input, const Ice::Current & /*unused*/)
+ {
+ objpose::provider::RequestObjectsOutput output;
+
+ for (const auto &id: input.objectIDs)
+ {
+ output.results[id].success = false;
+ }
+
+ return output;
+ }
+} // namespace armarx
diff --git a/source/RobotAPI/components/ObjectMemoryEditor/ObjectMemoryEditor.h b/source/RobotAPI/components/ObjectMemoryEditor/ObjectMemoryEditor.h
new file mode 100644
index 0000000000000000000000000000000000000000..1cc90b97906890dced6bf29bd25a3c26fa164f3f
--- /dev/null
+++ b/source/RobotAPI/components/ObjectMemoryEditor/ObjectMemoryEditor.h
@@ -0,0 +1,48 @@
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/services/tasks/TaskUtil.h>
+#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
+#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
+
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h>
+#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseProviderPlugin.h>
+#include "InteractionObserver.h"
+
+namespace armarx
+{
+ class ObjectMemoryEditor :
+ virtual public armarx::Component,
+ virtual public armarx::DebugObserverComponentPluginUser,
+ virtual public armarx::ArVizComponentPluginUser,
+ virtual public armarx::ObjectPoseClientPluginUser,
+ virtual public armarx::ObjectPoseProviderPluginUser
+ {
+ public:
+ std::string getDefaultName() const override;
+
+ protected:
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+ void onInitComponent() override;
+ void onConnectComponent() override;
+ void onDisconnectComponent() override;
+ void onExitComponent() override;
+
+ public:
+ objpose::ProviderInfo getProviderInfo(const Ice::Current& = Ice::emptyCurrent) override;
+ objpose::provider::RequestObjectsOutput requestObjects(const objpose::provider::RequestObjectsInput& input, const Ice::Current&) override;
+
+ private:
+ void run();
+
+ armarx::ObjectFinder objectFinder;
+ objpose::ProviderInfo providerInfo;
+
+ float objectScaling = 1.01F;
+ float confidenceThreshold = 0.0F;
+
+ armarx::SimpleRunningTask<>::pointer_type objectVizTask;
+ };
+} // namespace armarx
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
index 4d4d2399bb3ee5059d9788fb60f61cf23f78c2b0..a17005e6d573ff98accd7b40e9c45376ed8e85c4 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.cpp
@@ -38,8 +38,6 @@
#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/core/time/TimeUtil.h>
-#include <RobotAPI/interface/units/PlatformUnitInterface.h>
-
using namespace Eigen;
using namespace Ice;
@@ -72,7 +70,6 @@ namespace armarx
defineOptionalProperty<int>("HistoryLength", 10000, "Number of entries in the robot state history").setMin(0);
defineOptionalProperty<float>("RobotModelScaling", 1.0f, "Scaling of the robot model");
defineOptionalProperty<std::string>("TopicPrefix", "", "Prefix for the sensor value topic name.");
- defineOptionalProperty<std::string>("PlatformTopicName", "PlatformState", "Topic where platform state is published.");
defineOptionalProperty<std::string>("GlobalRobotPoseLocalizationTopicName", "GlobalRobotPoseLocalization", "Topic where the global robot pose can be reported.");
}
@@ -149,7 +146,6 @@ namespace armarx
usingTopic(topicPrefix + robotNodeSetName + "State");
usingTopic(topicPrefix + getProperty<std::string>("GlobalRobotPoseLocalizationTopicName").getValue());
- usingTopic(topicPrefix + getProperty<std::string>("PlatformTopicName").getValue());
try
{
@@ -692,39 +688,4 @@ namespace armarx
return Timestamped<FramedPosePtr> {time, new FramedPose(globalPose, armarx::GlobalFrame, "")};
}
-
- // legacy
- void RobotStateComponent::reportPlatformPose(const PlatformPose& currentPose, const Current&)
- {
- const float z = 0;
- const Eigen::Vector3f position(currentPose.x, currentPose.y, z);
- const Eigen::Matrix3f orientation =
- Eigen::AngleAxisf(currentPose.rotationAroundZ, Eigen::Vector3f::UnitZ()).toRotationMatrix();
- const Eigen::Matrix4f globalPose = math::Helpers::Pose(position, orientation);
-
- IceUtil::Time time = IceUtil::Time::microSeconds(currentPose.timestampInMicroSeconds);
- // ARMARX_IMPORTANT << VAROUT(currentPose.timestampInMicroSeconds);
-
- TransformStamped stamped;
- stamped.header.frame = armarx::GlobalFrame;
- stamped.header.agent = _synchronized->getName();
- stamped.header.timestampInMicroSeconds = time.toMicroSeconds();
- stamped.header.parentFrame = "";
- stamped.transform = globalPose;
-
- this->reportGlobalRobotPose(stamped);
-
- /*
- * old:
- insertPose(time, globalPose);
-
- if (_sharedRobotServant)
- {
- _sharedRobotServant->setTimestamp(time);
- }
- */
- }
-
-
-
}
diff --git a/source/RobotAPI/components/RobotState/RobotStateComponent.h b/source/RobotAPI/components/RobotState/RobotStateComponent.h
index 685567a476bd7ecfd8d97981fa2cc205d53c43bd..d786dd0d67efc4b5e8fe07e02bef4f4b370588da 100644
--- a/source/RobotAPI/components/RobotState/RobotStateComponent.h
+++ b/source/RobotAPI/components/RobotState/RobotStateComponent.h
@@ -59,7 +59,7 @@ namespace armarx
/**
* \defgroup Component-RobotStateComponent RobotStateComponent
* \ingroup RobotAPI-Components
- * \brief Maintains a robot representation based on VirtualRobot (see [Simox](http://gitlab.com/Simox/simox)).
+ * \brief Maintains a robot representation based on VirtualRobot (see [Simox](https://git.h2t.iar.kit.edu/sw/simox/simox)).
*
* The robot can be loaded from a Simox robot XML file.
* Upon request, an Ice proxy to a shared instance of this internal robot
@@ -128,20 +128,6 @@ namespace armarx
void setRobotStateObserver(RobotStateObserverPtr observer);
-
- // PlatformUnitListener interface
- // TODO: Remove this interface and use GlobalRobotPoseLocalizationListener only.
- /// Stores the platform pose in the pose history.
- void reportPlatformPose(const PlatformPose& currentPose, const Ice::Current& = Ice::emptyCurrent) override;
- /// Does nothing.
- void reportNewTargetPose(Ice::Float newPlatformPositionX, Ice::Float newPlatformPositionY, Ice::Float newPlatformRotation, const Ice::Current& = Ice::emptyCurrent) override {}
- /// Does nothing.
- void reportPlatformVelocity(Ice::Float currentPlatformVelocityX, Ice::Float currentPlatformVelocityY, Ice::Float currentPlatformVelocityRotation, const Ice::Current& = Ice::emptyCurrent) override {}
- /// Does nothing.
- void reportPlatformOdometryPose(Ice::Float x, Ice::Float y, Ice::Float angle, const Ice::Current& = Ice::emptyCurrent) override {}
-
-
-
protected:
// Component interface.
@@ -239,4 +225,3 @@ namespace armarx
};
}
-
diff --git a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
index b82eefe899e35b8e4ef63b538221f6ec0adb9159..b8d85a279c6dc04485b03b4c31ff7e93b16e163c 100644
--- a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
+++ b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
@@ -21,6 +21,7 @@
*/
#include "LegacyRobotStateMemoryAdapter.h"
+#include <SimoxUtility/math/convert/mat3f_to_rpy.h>
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
@@ -211,17 +212,36 @@ namespace armarx::armem
}
- void LegacyRobotStateMemoryAdapter::reportPlatformPose(const PlatformPose& p, const Ice::Current &)
+ // void LegacyRobotStateMemoryAdapter::reportPlatformPose(const PlatformPose& p, const Ice::Current &)
+ // {
+ // ARMARX_DEBUG << "Got an update for platform pose";
+ // std::lock_guard l(updateMutex);
+ // update.platformPose = p;
+ // updateTimestamps(p.timestampInMicroSeconds);
+ // }
+
+ void LegacyRobotStateMemoryAdapter::reportGlobalRobotPose(const ::armarx::TransformStamped& transformStamped, const ::Ice::Current&)
{
+
ARMARX_DEBUG << "Got an update for platform pose";
- std::lock_guard l(updateMutex);
- update.platformPose = p;
- updateTimestamps(p.timestampInMicroSeconds);
- }
- void LegacyRobotStateMemoryAdapter::reportNewTargetPose(Ice::Float, Ice::Float, Ice::Float, const Ice::Current &)
- {
+ const Eigen::Isometry3f global_T_robot(transformStamped.transform);
+ const float yaw = simox::math::mat3f_to_rpy(global_T_robot.linear()).z();
+
+ armarx::PlatformPose p;
+ p.x = global_T_robot.translation().x();
+ p.y = global_T_robot.translation().y();
+ p.rotationAroundZ = yaw;
+ p.timestampInMicroSeconds = transformStamped.header.timestampInMicroSeconds;
+
+ {
+ std::lock_guard l(updateMutex);
+ update.platformPose = p;
+ updateTimestamps(p.timestampInMicroSeconds);
+ }
}
+
+
void LegacyRobotStateMemoryAdapter::reportPlatformVelocity(Ice::Float f1, Ice::Float f2, Ice::Float f3, const Ice::Current &)
{
ARMARX_DEBUG << "Got an update for platform vels";
@@ -240,6 +260,8 @@ namespace armarx::armem
update.platformOdometryPose = {f1, f2, f3};
updateTimestamps(now);
}
+
+
void LegacyRobotStateMemoryAdapter::commitArmar3RobotDescription()
{
diff --git a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.h b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.h
index 9680d8c27a1e98e0e70c74308e5235f18bb4b1fc..71ab81f1a3582fafeed767ae7dcfc00f20cf0cad 100644
--- a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.h
+++ b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.h
@@ -59,11 +59,12 @@ namespace armarx::armem
void reportJointMotorTemperatures(const NameValueMap&, Ice::Long, bool, const Ice::Current&) override;
void reportJointStatuses(const NameStatusMap&, Ice::Long, bool, const Ice::Current&) override;
- void reportPlatformPose(const PlatformPose &, const Ice::Current &) override;
- void reportNewTargetPose(Ice::Float, Ice::Float, Ice::Float, const Ice::Current &) override;
+ // void reportPlatformPose(const PlatformPose &, const Ice::Current &) override;
void reportPlatformVelocity(Ice::Float, Ice::Float, Ice::Float, const Ice::Current &) override;
void reportPlatformOdometryPose(Ice::Float, Ice::Float, Ice::Float, const Ice::Current &) override;
+ void reportGlobalRobotPose(const ::armarx::TransformStamped&, const ::Ice::Current& = ::Ice::emptyCurrent) override;
+
protected:
/// @see PropertyUser::createPropertyDefinitions()
diff --git a/source/RobotAPI/components/armem/client/CMakeLists.txt b/source/RobotAPI/components/armem/client/CMakeLists.txt
index 7f3b065d376bd23e7c99348bb3d94e9f6ddd3abf..6fcc0faa70a46b51250795f7641ca6c8d6a2765c 100644
--- a/source/RobotAPI/components/armem/client/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/client/CMakeLists.txt
@@ -1,5 +1,6 @@
add_subdirectory(ExampleMemoryClient)
add_subdirectory(GraspProviderExample)
-add_subdirectory(VirtualRobotWriterExample)
-add_subdirectory(VirtualRobotReaderExampleClient)
+add_subdirectory(RobotStatePredictionClientExample)
add_subdirectory(SimpleVirtualRobot)
+add_subdirectory(VirtualRobotReaderExampleClient)
+add_subdirectory(VirtualRobotWriterExample)
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/CMakeLists.txt b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..91c7bdc1834110f3c0be76f7d6eefb6f001338b9
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/CMakeLists.txt
@@ -0,0 +1,40 @@
+armarx_component_set_name(RobotStatePredictionClientExample)
+
+
+set(COMPONENT_LIBS
+ # ArmarXCore
+ ArmarXCore ArmarXCoreInterfaces
+ # ArmarxGui
+ ArmarXGuiComponentPlugins
+ # RobotAPI
+ RobotAPICore
+ RobotAPIComponentPlugins
+ armem
+ armem_robot_state
+)
+
+set(SOURCES
+ # ToDo: Move to library.
+ RobotStatePredictionClient.cpp
+
+ Component.cpp
+ Impl.cpp
+)
+
+set(HEADERS
+ # ToDo: Move to library.
+ RobotStatePredictionClient.h
+ # ToDo: Move to simox.
+ simox_alg.hpp
+
+ Component.h
+ Impl.h
+
+ RobotStatePredictionClientExample.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+
+# Generate the application.
+armarx_generate_and_add_component_executable()
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/Component.cpp b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/Component.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9f13e111eec8e51f3fa67e5d04f03d3df1fd0b64
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/Component.cpp
@@ -0,0 +1,97 @@
+/*
+ * 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::RobotStatePredictionClientExample
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#include "RobotStatePredictionClientExample.h"
+#include "Impl.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+namespace armarx::robot_state_prediction_client_example
+{
+
+ Component::Component() :
+ pimpl(std::make_unique<Impl>(memoryNameSystem()))
+ {
+ }
+
+
+ RobotStatePredictionClientExample::~RobotStatePredictionClientExample() = default;
+
+
+ std::string Component::getDefaultName() const
+ {
+ return "RobotStatePredictionClientExample";
+ }
+
+
+ armarx::PropertyDefinitionsPtr Component::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+
+ ARMARX_CHECK_NOT_NULL(pimpl);
+ pimpl->defineProperties(defs, "p.");
+
+ return defs;
+ }
+
+
+ void Component::onInitComponent()
+ {
+ }
+
+
+ void Component::onConnectComponent()
+ {
+ pimpl->connect(memoryNameSystem(), arviz);
+ pimpl->start();
+
+ createRemoteGuiTab();
+ RemoteGui_startRunningTask();
+ }
+
+
+ void Component::onDisconnectComponent()
+ {
+ pimpl->stop();
+ }
+
+
+ void Component::onExitComponent()
+ {
+ }
+
+
+ void Component::createRemoteGuiTab()
+ {
+ using namespace armarx::RemoteGui::Client;
+
+ VBoxLayout root = {VSpacer()};
+ RemoteGui_createTab(getName(), root, &tab);
+ }
+
+ void Component::RemoteGui_update()
+ {
+ }
+
+}
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/Component.h b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/Component.h
new file mode 100644
index 0000000000000000000000000000000000000000..198257f6b033cfc0433ca5b0caad18e47ee77e45
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/Component.h
@@ -0,0 +1,100 @@
+/*
+ * 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::RobotStatePredictionClientExample
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#pragma once
+
+#include <memory>
+
+#include <ArmarXCore/core/Component.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+
+#include <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
+
+// For some reason, the generated main requires Impl to be complete ...
+#include "Impl.h"
+
+
+namespace armarx::robot_state_prediction_client_example
+{
+ class Impl;
+
+
+ /**
+ * @defgroup Component-ExampleClient ExampleClient
+ * @ingroup RobotAPI-Components
+ *
+ * An example for an ArMem Memory Client.
+ *
+ * @class ExampleClient
+ * @ingroup Component-ExampleClient
+ * @brief Brief description of class ExampleClient.
+ *
+ * Connects to the example memory, and commits and queries example data.
+ */
+ class Component :
+ virtual public armarx::Component
+ , virtual public armarx::LightweightRemoteGuiComponentPluginUser
+ , virtual public armarx::ArVizComponentPluginUser
+ , virtual public armarx::armem::ClientPluginUser
+ {
+ public:
+ using Impl = robot_state_prediction_client_example::Impl;
+
+ Component();
+ virtual ~Component();
+
+
+ /// @see armarx::ManagedIceObject::getDefaultName()
+ std::string getDefaultName() const override;
+
+
+ // LightweightRemoteGuiComponentPluginUser interface
+ public:
+ void createRemoteGuiTab();
+ void RemoteGui_update() override;
+
+
+ protected:
+
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+ void onInitComponent() override;
+ void onConnectComponent() override;
+ void onDisconnectComponent() override;
+ void onExitComponent() override;
+
+
+ private:
+
+ std::unique_ptr<Impl> pimpl = nullptr;
+
+ struct RemoteGuiTab : RemoteGui::Client::Tab
+ {
+ };
+ RemoteGuiTab tab;
+
+ };
+}
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/Impl.cpp b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/Impl.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c433669630c9631e471666fa3b3cd02acd25c2f9
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/Impl.cpp
@@ -0,0 +1,261 @@
+/*
+ * 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::RobotStatePredictionClientExample
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#include "Impl.h"
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/time/Metronome.h>
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/armem/client/query.h>
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
+#include <RobotAPI/libraries/armem_robot_state/client/common/constants.h>
+#include <RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h>
+
+
+namespace simox::alg
+{
+ template <class... Args>
+ std::vector<Args...>
+ concatenate(const std::vector<Args...>& lhs, const std::vector<Args...>& rhs)
+ {
+ std::vector<Args...> conc = lhs;
+ std::copy(rhs.begin(), rhs.end(), std::back_inserter(conc));
+ return conc;
+ }
+
+
+ template <class KeyT, class ValueT>
+ std::map<KeyT, ValueT>
+ map_from_key_value_pairs(const std::vector<KeyT>& lhs, const std::vector<ValueT>& rhs)
+ {
+ const size_t size = std::min(lhs.size(), rhs.size());
+
+ std::map<KeyT, ValueT> map;
+ for (size_t i = 0; i < size; ++i)
+ {
+ map.emplace(lhs[i], rhs[i]);
+ }
+ return map;
+ }
+
+
+ template <class KeyT, class ValueT>
+ std::vector<ValueT>
+ multi_at(const std::map<KeyT, ValueT>& map,
+ const std::vector<KeyT>& keys,
+ bool skipMissing = false)
+ {
+ std::vector<ValueT> values;
+ values.reserve(keys.size());
+
+ for (const KeyT& key : keys)
+ {
+ if (skipMissing)
+ {
+ if (auto it = map.find(key); it != map.end())
+ {
+ values.push_back(it->second);
+ }
+ }
+ else
+ {
+ // Throw an exception if missing.
+ values.push_back(map.at(key));
+ }
+ }
+
+ return values;
+ }
+
+ template <class... Args>
+ std::vector<Args...>
+ slice(const std::vector<Args...>& vector,
+ size_t start = 0,
+ std::optional<size_t> end = std::nullopt)
+ {
+ std::vector<Args...> result;
+ auto beginIt = vector.begin() + start;
+ auto endIt = end ? vector.begin() + *end : vector.end();
+ std::copy(beginIt, endIt, std::back_inserter(result));
+ return result;
+ }
+
+} // namespace simox::alg
+
+namespace armarx::robot_state_prediction_client_example
+{
+
+ Impl::Impl(armem::client::MemoryNameSystem& memoryNameSystem)
+ {
+ client.remote.robotReader.emplace(memoryNameSystem);
+ }
+
+
+ Impl::~Impl() = default;
+
+
+ void
+ Impl::defineProperties(IceUtil::Handle<PropertyDefinitionContainer>& defs,
+ const std::string& prefix)
+ {
+ defs->optional(properties.robotName, prefix + "robotName", "Name of the robot.");
+
+ defs->optional(properties.predictAheadSeconds,
+ prefix + "predictAheadSeconds",
+ "How far into the future to predict [s].");
+
+ client.remote.robotReader->registerPropertyDefinitions(defs);
+ }
+
+
+ void
+ Impl::connect(armem::client::MemoryNameSystem& mns, viz::Client arviz)
+ {
+ try
+ {
+ client.remote.reader =
+ mns.useReader(armem::MemoryID(armem::robot_state::constants::memoryName));
+ ARMARX_IMPORTANT << "got reader";
+ }
+ catch (const armem::error::CouldNotResolveMemoryServer& e)
+ {
+ ARMARX_WARNING << e.what();
+ }
+
+ client.remote.robotReader->connect();
+
+ this->remote.arviz = arviz;
+ }
+
+
+ void
+ Impl::start()
+ {
+ task = new armarx::SimpleRunningTask<>([this]() { this->run(); });
+ task->start();
+ }
+
+
+ void
+ Impl::stop()
+ {
+ task->stop();
+ }
+
+
+ void
+ Impl::run()
+ {
+ Metronome metronome(Frequency::Hertz(properties.updateFrequencyHz));
+
+ while (task and not task->isStopped())
+ {
+ metronome.waitForNextTick();
+
+ runOnce();
+ }
+ }
+
+
+ void
+ Impl::runOnce()
+ {
+ ARMARX_CHECK(client.remote.reader);
+
+ const DateTime now = Clock::Now();
+ const DateTime predictedTime =
+ now + Duration::SecondsDouble(properties.predictAheadSeconds);
+
+ if (not robotViz)
+ {
+ auto desc = client.remote.robotReader->queryDescription(properties.robotName, now);
+ if (desc.has_value())
+ {
+ PackagePath& pp = desc->xml;
+ robotViz = viz::Robot(properties.robotName)
+ .file(pp.serialize().package, pp.serialize().path)
+ .overrideColor(simox::Color::cyan(255, 64));
+ }
+ else
+ {
+ ARMARX_INFO << "Failed to get robot description.";
+ }
+ }
+ if (not robotViz)
+ {
+ return;
+ }
+
+ // Which entities to predict?
+
+ const std::vector<armem::MemoryID> locEntityIDs = this->localizationEntityIDs.has_value()
+ ? this->localizationEntityIDs.value()
+ : client.queryLocalizationEntityIDs();
+ const std::vector<armem::MemoryID> propEntityIDs =
+ this->propioceptionEntityIDs.has_value() ? this->propioceptionEntityIDs.value()
+ : client.queryProprioceptionEntityIDs();
+
+ // Predict.
+
+ auto prediction = client.predictWholeBody(
+ locEntityIDs, propEntityIDs, predictedTime, properties.robotName, "Linear");
+
+ // Gather results.
+
+ if (prediction.globalPose.has_value())
+ {
+ // ARMARX_INFO << "Predicted global pose: \n" << globalPose->matrix();
+ robotViz->pose(prediction.globalPose->matrix());
+
+ if (not localizationEntityIDs)
+ {
+ // Store entity IDs for successful lookup.
+ this->localizationEntityIDs = locEntityIDs;
+ }
+ }
+ if (prediction.jointPositions.has_value())
+ {
+ robotViz->joints(prediction.jointPositions.value());
+
+ if (not propioceptionEntityIDs)
+ {
+ this->propioceptionEntityIDs = propEntityIDs;
+ }
+ }
+
+ // Visualize.
+ {
+ viz::Layer layer = remote.arviz.layer(properties.robotName + " Prediction");
+ layer.add(robotViz.value());
+ remote.arviz.commit(layer);
+ }
+ }
+
+
+} // namespace armarx::robot_state_prediction_client_example
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/Impl.h b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/Impl.h
new file mode 100644
index 0000000000000000000000000000000000000000..272f9e2e62d6ac16b49a2674a7952d96e8618975
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/Impl.h
@@ -0,0 +1,87 @@
+/*
+ * 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::RobotStatePredictionClientExample
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#pragma once
+
+#include <vector>
+
+#include <ArmarXCore/util/tasks.h>
+
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+#include <RobotAPI/libraries/armem/client/forward_declarations.h>
+#include <RobotAPI/libraries/armem/client/Reader.h>
+
+#include <RobotAPI/components/ArViz/Client/Client.h>
+
+#include "RobotStatePredictionClient.h"
+
+
+namespace armarx::robot_state_prediction_client_example
+{
+
+ class Impl
+ {
+ public:
+
+ Impl(armem::client::MemoryNameSystem& memoryNameSystem);
+ ~Impl();
+
+
+ void defineProperties(IceUtil::Handle<armarx::PropertyDefinitionContainer>& defs, const std::string& prefix);
+ void connect(armem::client::MemoryNameSystem& mns, viz::Client arviz);
+
+ void start();
+ void stop();
+
+ void run();
+ void runOnce();
+
+
+ public:
+
+ struct Properties
+ {
+ float updateFrequencyHz = 10;
+
+ std::string robotName = "Armar6";
+ float predictAheadSeconds = 1.0;
+ };
+ Properties properties;
+
+ struct Remote
+ {
+ viz::Client arviz;
+ };
+ Remote remote;
+
+ armarx::SimpleRunningTask<>::pointer_type task;
+
+
+ armem::robot_state::RobotStatePredictionClient client;
+
+ std::optional<std::vector<armem::MemoryID>> localizationEntityIDs;
+ std::optional<std::vector<armem::MemoryID>> propioceptionEntityIDs;
+ std::optional<viz::Robot> robotViz;
+
+ };
+}
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3d98d0f2717747a91f7a56c3e0c547cbb0088fbd
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.cpp
@@ -0,0 +1,280 @@
+/*
+ * 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::RobotStatePredictionClientExample
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "RobotStatePredictionClient.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/armem/client/query.h>
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/operations.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/aron_conversions.h>
+#include <RobotAPI/libraries/armem_robot_state/client/common/constants.h>
+#include <RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h>
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+#include "simox_alg.hpp"
+
+
+namespace armarx::armem::robot_state
+{
+
+ RobotStatePredictionClient::RobotStatePredictionClient()
+ {
+ }
+
+
+ std::vector<armem::MemoryID>
+ RobotStatePredictionClient::queryLocalizationEntityIDs()
+ {
+ return _queryEntityIDs(armem::robot_state::constants::localizationCoreSegment);
+ }
+
+
+ std::vector<MemoryID>
+ RobotStatePredictionClient::queryProprioceptionEntityIDs()
+ {
+ return _queryEntityIDs(armem::robot_state::constants::proprioceptionCoreSegment);
+ }
+
+
+ std::vector<MemoryID>
+ RobotStatePredictionClient::_queryEntityIDs(const std::string& coreSegmentName)
+ {
+ armem::client::QueryBuilder qb;
+ {
+ namespace qf = armarx::armem::client::query_fns;
+ qb.coreSegments(qf::withName(coreSegmentName))
+ .providerSegments(qf::all())
+ .entities(qf::all())
+ .snapshots(qf::latest());
+ }
+ armem::client::QueryResult result = remote.reader.query(qb);
+ if (result.success)
+ {
+ return armem::getEntityIDs(result.memory);
+ }
+ else
+ {
+ // ToDo: Use exceptions to escalate error.
+ ARMARX_VERBOSE << "Query failed: " << result.errorMessage;
+ return {};
+ }
+ }
+
+
+ std::vector<armem::PredictionRequest>
+ RobotStatePredictionClient::makePredictionRequests(
+ const std::vector<armem::MemoryID>& entityIDs,
+ armem::Time predictedTime,
+ const std::string& engineID)
+ {
+ std::vector<armem::PredictionRequest> requests;
+ requests.reserve(entityIDs.size());
+ for (const armem::MemoryID& entityID : entityIDs)
+ {
+ armem::PredictionRequest& request = requests.emplace_back();
+ request.snapshotID = entityID.withTimestamp(predictedTime);
+ request.predictionSettings.predictionEngineID = engineID;
+ }
+ ARMARX_CHECK_EQUAL(requests.size(), entityIDs.size());
+ return requests;
+ }
+
+
+ std::vector<PredictionResult>
+ RobotStatePredictionClient::predict(const std::vector<MemoryID>& entityIDs,
+ Time predictedTime,
+ const std::string& engineID)
+ {
+ const std::vector<PredictionRequest> requests =
+ makePredictionRequests(entityIDs, predictedTime, engineID);
+ return predict(requests);
+ }
+
+
+ std::vector<PredictionResult>
+ RobotStatePredictionClient::predict(const std::vector<PredictionRequest>& requests)
+ {
+ const std::vector<PredictionResult> results = remote.reader.predict(requests);
+ ARMARX_CHECK_EQUAL(results.size(), requests.size());
+ return results;
+ }
+
+
+ std::optional<Eigen::Affine3f>
+ RobotStatePredictionClient::lookupGlobalPose(
+ const std::vector<armem::PredictionResult>& localizationPredictionResults,
+ const std::vector<armem::MemoryID>& localizationEntityIDs,
+ armem::Time predictedTime)
+ {
+ ARMARX_CHECK_EQUAL(localizationPredictionResults.size(), localizationEntityIDs.size());
+ std::stringstream errorMessages;
+
+ namespace loc = armem::common::robot_state::localization;
+
+ std::optional<armem::wm::CoreSegment> coreSegment;
+
+ loc::TransformQuery query;
+ query.header.parentFrame = armarx::GlobalFrame;
+ query.header.frame = armem::robot_state::constants::robotRootNodeName;
+ query.header.agent = "";
+ query.header.timestamp = predictedTime;
+
+ for (size_t i = 0; i < localizationPredictionResults.size(); ++i)
+ {
+ const armem::PredictionResult& result = localizationPredictionResults[i];
+ const armem::MemoryID& entityID = localizationEntityIDs.at(i);
+
+ if (result.success)
+ {
+ if (query.header.agent.empty())
+ {
+ const arondto::Transform tf = arondto::Transform::FromAron(result.prediction);
+ query.header.agent = tf.header.agent;
+ }
+ if (not coreSegment)
+ {
+ coreSegment.emplace(entityID.getCoreSegmentID());
+ }
+ {
+ armem::EntityUpdate update;
+ update.entityID = entityID;
+ update.timeCreated = predictedTime;
+ update.instancesData = {result.prediction};
+ coreSegment->update(update);
+ }
+ }
+ else
+ {
+ errorMessages << "Prediction of '" << entityID << "'"
+ << " failed: " << result.errorMessage << "\n";
+ }
+ }
+
+ std::optional<Eigen::Affine3f> result;
+ if (coreSegment.has_value())
+ {
+ loc::TransformResult tf =
+ loc::TransformHelper::lookupTransform(coreSegment.value(), query);
+
+ if (tf)
+ {
+ result = tf.transform.transform;
+ }
+ else
+ {
+ errorMessages << "\nFailed to lookup transform: " << tf.errorMessage << "\n";
+ }
+ }
+
+ if (not errorMessages.str().empty())
+ {
+ // ToDo: Introduce an exception here?
+ ARMARX_VERBOSE << errorMessages.str();
+ }
+ return result;
+ }
+
+ std::optional<std::map<std::string, float>>
+ RobotStatePredictionClient::lookupJointPositions(
+ const std::vector<PredictionResult>& proprioceptionPredictionResults,
+ const std::string& robotName)
+ {
+ auto it = std::find_if(proprioceptionPredictionResults.begin(),
+ proprioceptionPredictionResults.end(),
+ [&robotName](const PredictionResult& result)
+ { return result.snapshotID.entityName == robotName; });
+ if (it != proprioceptionPredictionResults.end())
+ {
+ auto result = *it;
+ auto prop = armem::arondto::Proprioception::FromAron(result.prediction);
+ return prop.joints.position;
+ }
+ else
+ {
+ return std::nullopt;
+ }
+ }
+
+
+ std::optional<Eigen::Affine3f>
+ RobotStatePredictionClient::predictGlobalPose(const std::vector<MemoryID>& entityIDs,
+ Time predictedTime,
+ const std::string& engineID)
+ {
+ const std::vector<PredictionResult> results = predict(entityIDs, predictedTime, engineID);
+ std::optional<Eigen::Affine3f> pose = lookupGlobalPose(results, entityIDs, predictedTime);
+ return pose;
+ }
+
+
+ std::optional<std::map<std::string, float>>
+ RobotStatePredictionClient::predictJointPositions(const std::vector<MemoryID>& entityIDs,
+ Time predictedTime,
+ const std::string& robotName,
+ const std::string& engineID)
+ {
+ const std::vector<PredictionResult> results = predict(entityIDs, predictedTime, engineID);
+ return lookupJointPositions(results, robotName);
+ }
+
+
+ RobotStatePredictionClient::WholeBodyPrediction
+ RobotStatePredictionClient::predictWholeBody(const std::vector<armem::MemoryID>& locEntityIDs,
+ const std::vector<armem::MemoryID>& propEntityIDs,
+ Time predictedTime,
+ const std::string& robotName,
+ const std::string& engineID)
+ {
+ RobotStatePredictionClient::WholeBodyPrediction result;
+
+ // Predict.
+ const std::vector<armem::MemoryID> entityIDs =
+ simox::alg::concatenate(locEntityIDs, propEntityIDs);
+
+ if (entityIDs.empty())
+ {
+ return result;
+ }
+
+ auto _results = predict(entityIDs, predictedTime, "Linear");
+
+ // Gather results.
+ std::vector<armem::PredictionResult> locResults, propResults;
+ locResults = simox::alg::slice(_results, 0, locEntityIDs.size());
+ propResults = simox::alg::slice(_results, locEntityIDs.size());
+ ARMARX_CHECK_EQUAL(locResults.size(), locEntityIDs.size());
+ ARMARX_CHECK_EQUAL(propResults.size(), propEntityIDs.size());
+
+
+ result.globalPose = lookupGlobalPose(locResults, locEntityIDs, predictedTime);
+ result.jointPositions = lookupJointPositions(propResults, robotName);
+
+ return result;
+ }
+
+} // namespace armarx::armem::robot_state
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.h b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.h
new file mode 100644
index 0000000000000000000000000000000000000000..6ef31275e1efbf7ea9f5fd43ce2fb467d54b2bd7
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClient.h
@@ -0,0 +1,106 @@
+/*
+ * 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::RobotStatePredictionClientExample
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#pragma once
+
+#include <optional>
+#include <vector>
+
+#include <Eigen/Geometry>
+
+#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
+
+
+namespace armarx::armem::robot_state
+{
+
+ class RobotStatePredictionClient
+ {
+ public:
+ RobotStatePredictionClient();
+
+
+ struct WholeBodyPrediction
+ {
+ std::optional<Eigen::Affine3f> globalPose;
+ std::optional<std::map<std::string, float>> jointPositions;
+ };
+ WholeBodyPrediction
+ predictWholeBody(const std::vector<armem::MemoryID>& localizationEntityIDs,
+ const std::vector<armem::MemoryID>& proprioceptionEntityIDs,
+ armem::Time predictedTime,
+ const std::string& robotName,
+ const std::string& engineID = "Linear");
+
+ std::optional<Eigen::Affine3f>
+ predictGlobalPose(const std::vector<armem::MemoryID>& entityIDs,
+ armem::Time predictedTime,
+ const std::string& engineID = "Linear");
+
+ std::optional<std::map<std::string, float>>
+ predictJointPositions(const std::vector<armem::MemoryID>& entityIDs,
+ armem::Time predictedTime,
+ const std::string& robotName,
+ const std::string& engineID = "Linear");
+
+
+ std::vector<armem::PredictionResult> predict(const std::vector<armem::MemoryID>& entityIDs,
+ armem::Time predictedTime,
+ const std::string& engineID = "Linear");
+ std::vector<armem::PredictionResult>
+ predict(const std::vector<armem::PredictionRequest>& requests);
+
+
+ std::vector<armem::MemoryID> queryLocalizationEntityIDs();
+ std::vector<armem::MemoryID> queryProprioceptionEntityIDs();
+
+ std::vector<armem::PredictionRequest>
+ makePredictionRequests(const std::vector<armem::MemoryID>& entityIDs,
+ armem::Time predictedTime,
+ const std::string& engineID = "Linear");
+
+ std::optional<Eigen::Affine3f>
+ lookupGlobalPose(const std::vector<armem::PredictionResult>& localizationPredictionResults,
+ const std::vector<armem::MemoryID>& localizationEntityIDs,
+ armem::Time predictedTime);
+
+ std::optional<std::map<std::string, float>> lookupJointPositions(
+ const std::vector<armem::PredictionResult>& proprioceptionPredictionResults,
+ const std::string& robotName);
+
+
+ private:
+ std::vector<armem::MemoryID> _queryEntityIDs(const std::string& coreSegmentName);
+
+ public:
+ struct Remote
+ {
+ armem::client::Reader reader;
+ std::optional<armem::robot_state::VirtualRobotReader> robotReader;
+ };
+ Remote remote;
+ };
+
+} // namespace armarx::armem::robot_state
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClientExample.h b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClientExample.h
new file mode 100644
index 0000000000000000000000000000000000000000..3023fef630da40fc660dc828bd66c14c5060982d
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClientExample.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 RobotAPI::ArmarXObjects::RobotStatePredictionClientExample
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include "Component.h"
+
+
+namespace armarx
+{
+ using RobotStatePredictionClientExample = armarx::robot_state_prediction_client_example::Component;
+}
diff --git a/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/simox_alg.hpp b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/simox_alg.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..4a56a6ca012eb3b3180a757005f9a5d5633b1f82
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/simox_alg.hpp
@@ -0,0 +1,96 @@
+/*
+ * 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::RobotStatePredictionClientExample
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <map>
+#include <vector>
+
+namespace simox::alg
+{
+ template <class... Args>
+ std::vector<Args...>
+ concatenate(const std::vector<Args...>& lhs, const std::vector<Args...>& rhs)
+ {
+ std::vector<Args...> conc = lhs;
+ std::copy(rhs.begin(), rhs.end(), std::back_inserter(conc));
+ return conc;
+ }
+
+
+ template <class KeyT, class ValueT>
+ std::map<KeyT, ValueT>
+ map_from_key_value_pairs(const std::vector<KeyT>& lhs, const std::vector<ValueT>& rhs)
+ {
+ const size_t size = std::min(lhs.size(), rhs.size());
+
+ std::map<KeyT, ValueT> map;
+ for (size_t i = 0; i < size; ++i)
+ {
+ map.emplace(lhs[i], rhs[i]);
+ }
+ return map;
+ }
+
+
+ template <class KeyT, class ValueT>
+ std::vector<ValueT>
+ multi_at(const std::map<KeyT, ValueT>& map,
+ const std::vector<KeyT>& keys,
+ bool skipMissing = false)
+ {
+ std::vector<ValueT> values;
+ values.reserve(keys.size());
+
+ for (const KeyT& key : keys)
+ {
+ if (skipMissing)
+ {
+ if (auto it = map.find(key); it != map.end())
+ {
+ values.push_back(it->second);
+ }
+ }
+ else
+ {
+ // Throw an exception if missing.
+ values.push_back(map.at(key));
+ }
+ }
+
+ return values;
+ }
+
+ template <class... Args>
+ std::vector<Args...>
+ slice(const std::vector<Args...>& vector,
+ size_t start = 0,
+ std::optional<size_t> end = std::nullopt)
+ {
+ std::vector<Args...> result;
+ auto beginIt = vector.begin() + start;
+ auto endIt = end ? vector.begin() + *end : vector.end();
+ std::copy(beginIt, endIt, std::back_inserter(result));
+ return result;
+ }
+
+} // namespace simox::alg
diff --git a/source/RobotAPI/components/armem/client/SimpleVirtualRobot/SimpleVirtualRobot.cpp b/source/RobotAPI/components/armem/client/SimpleVirtualRobot/SimpleVirtualRobot.cpp
index 7045df683d1fb8d5c7fafa83a049fc7f1e9d2ea1..1cd517681ad03a2721c31bb1b55e188f4cfe7d09 100644
--- a/source/RobotAPI/components/armem/client/SimpleVirtualRobot/SimpleVirtualRobot.cpp
+++ b/source/RobotAPI/components/armem/client/SimpleVirtualRobot/SimpleVirtualRobot.cpp
@@ -21,6 +21,7 @@
#include "SimpleVirtualRobot.h"
+#include <SimoxUtility/json/json.hpp>
#include <VirtualRobot/Robot.h>
#include <VirtualRobot/XML/RobotIO.h>
@@ -53,6 +54,8 @@ namespace armarx::simple_virtual_robot
defs->optional(properties.robot.package, "p.robot.package", "Package of the Simox robot XML.");
defs->optional(properties.robot.path, "p.robot.path", "Local path of the Simox robot XML.");
+ defs->optional(properties.robot.jointValues, "p.robot.jointValues", "Specify a certain joint configuration.");
+
return defs;
}
@@ -106,6 +109,24 @@ namespace armarx::simple_virtual_robot
VirtualRobot::RobotPtr robot =
VirtualRobot::RobotIO::loadRobot(path.toSystemPath(), VirtualRobot::RobotIO::eStructure);
+ ARMARX_CHECK_NOT_NULL(robot) << "Failed to load robot `" << path << "`.";
+
+ if(not p.jointValues.empty())
+ {
+ ARMARX_DEBUG << "Parsing: " << p.jointValues;
+
+ const nlohmann::json j = nlohmann::json::parse(p.jointValues);
+ ARMARX_DEBUG << "JSON parsed as: " << j;
+
+ std::map<std::string, float> jointValues;
+ nlohmann::from_json(j, jointValues);
+
+ ARMARX_VERBOSE << "The following joint values are given by the user: " << jointValues;
+ robot->setJointValues(jointValues);
+ }
+
+
+
if (not p.name.empty())
{
robot->setName(p.name);
diff --git a/source/RobotAPI/components/armem/client/SimpleVirtualRobot/SimpleVirtualRobot.h b/source/RobotAPI/components/armem/client/SimpleVirtualRobot/SimpleVirtualRobot.h
index d1680923b5109098622b3030c8569f1633540e0f..677f4e085d1d5a12c081b0e27623652561441904 100644
--- a/source/RobotAPI/components/armem/client/SimpleVirtualRobot/SimpleVirtualRobot.h
+++ b/source/RobotAPI/components/armem/client/SimpleVirtualRobot/SimpleVirtualRobot.h
@@ -60,6 +60,8 @@ namespace armarx::simple_virtual_robot
std::string name;
std::string package;
std::string path;
+
+ std::string jointValues; // json-style map<std::string, float>
};
Robot robot;
};
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
index 6aab4a4ff38ce842d3c00f4d57bceec3cd5f5672..53e51cd0bd760e8112dba418b606efcdb6293613 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
@@ -2,36 +2,19 @@
#include "VirtualRobotReaderExampleClient.h"
-
-#include <memory>
-
-#include <Eigen/Geometry>
-
-#include <IceUtil/Time.h>
-
-#include <VirtualRobot/Robot.h>
-#include <VirtualRobot/XML/RobotIO.h>
-#include <VirtualRobot/VirtualRobot.h>
-
-#include <ArmarXCore/core/PackagePath.h>
-#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <ArmarXCore/core/time/Metronome.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/core/time/CycleUtil.h>
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/time/TimeUtil.h>
-#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
-
-#include <RobotAPI/libraries/armem/client/query/Builder.h>
-#include <RobotAPI/libraries/armem/client/query/query_fns.h>
-#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
-#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
+
#include <RobotAPI/libraries/armem/core/Time.h>
namespace armarx::robot_state
{
VirtualRobotReaderExampleClient::VirtualRobotReaderExampleClient() :
- virtualRobotReader(this->memoryNameSystem()) {}
+ virtualRobotReader(this->memoryNameSystem())
+ {
+ }
+
armarx::PropertyDefinitionsPtr VirtualRobotReaderExampleClient::createPropertyDefinitions()
{
@@ -40,20 +23,27 @@ namespace armarx::robot_state
defs->topic(debugObserver);
- defs->optional(p.robotName, "robotName");
- defs->optional(p.updateFrequency, "updateFrequency");
+ defs->optional(properties.robotName, "p.robotName",
+ "The name of the robot to use.");
+ defs->optional(properties.updateFrequency, "p.updateFrequency [Hz]",
+ "The frequency of the running loop.");
virtualRobotReader.registerPropertyDefinitions(defs);
return defs;
}
+
std::string VirtualRobotReaderExampleClient::getDefaultName() const
{
return "VirtualRobotReaderExampleClient";
}
- void VirtualRobotReaderExampleClient::onInitComponent() {}
+
+ void VirtualRobotReaderExampleClient::onInitComponent()
+ {
+ }
+
void VirtualRobotReaderExampleClient::onConnectComponent()
{
@@ -61,42 +51,71 @@ namespace armarx::robot_state
ARMARX_IMPORTANT << "Running virtual robot synchronization example.";
- task = new PeriodicTask<VirtualRobotReaderExampleClient>(this, &VirtualRobotReaderExampleClient::run, 1000 / p.updateFrequency);
+ task = new SimpleRunningTask<>([this]()
+ {
+ this->run();
+ });
task->start();
}
+
void VirtualRobotReaderExampleClient::onDisconnectComponent()
{
task->stop();
}
- void VirtualRobotReaderExampleClient::onExitComponent() {}
- void VirtualRobotReaderExampleClient::run()
+ void VirtualRobotReaderExampleClient::onExitComponent()
{
- const armem::Time now = armem::Time::Now();
+ }
- // initialize if needed
- if (virtualRobot == nullptr)
- {
- TIMING_START(getRobot);
- virtualRobot = virtualRobotReader.getRobot(p.robotName, now);
+ void VirtualRobotReaderExampleClient::run()
+ {
+ Metronome metronome(Frequency::Hertz(properties.updateFrequency));
+ while (task and not task->isStopped())
+ {
+ const armem::Time now = armem::Time::Now();
- if (virtualRobot == nullptr)
+ // Initialize the robot if needed.
+ if (robot == nullptr)
{
- ARMARX_WARNING << deactivateSpam(1) << "Could not create virtual robot.";
- return;
+ // The TIMING_* macros are optional, you do not need them.
+ TIMING_START(getRobot);
+
+ robot = virtualRobotReader.getRobot(properties.robotName, now);
+ if (robot)
+ {
+ // Only print timing once the robot is loadable & loaded.
+ TIMING_END_STREAM(getRobot, ARMARX_INFO);
+ }
+ else
+ {
+ ARMARX_WARNING << deactivateSpam(10) << "Could not create virtual robot.";
+ }
}
- // only print timing once the robot is loadable & loaded
- TIMING_END_STREAM(getRobot, ARMARX_INFO);
- }
+ if (robot)
+ {
+ ARMARX_INFO << deactivateSpam(60) << "Synchronizing robot.";
- ARMARX_INFO << deactivateSpam(10) << "Synchronizing robot";
+ TIMING_START(synchronizeRobot);
+ ARMARX_CHECK(virtualRobotReader.synchronizeRobot(*robot, now));
+ TIMING_END_STREAM(synchronizeRobot, ARMARX_INFO);
- TIMING_START(synchronizeRobot);
- ARMARX_CHECK(virtualRobotReader.synchronizeRobot(*virtualRobot, now));
- TIMING_END_STREAM(synchronizeRobot, ARMARX_INFO);
+
+ // Do something with the robot (your code follows here, there are just a examples) ...
+
+ Eigen::Matrix4f globalPose = robot->getGlobalPose();
+ (void) globalPose;
+
+ std::vector<std::string> nodeNames = robot->getRobotNodeNames();
+ (void) nodeNames;
+
+ // End.
+ }
+
+ metronome.waitForNextTick();
+ }
}
} // namespace armarx::robot_state
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
index 322362fe4ea476c0701bfe137ab4cc1eaea08ec5..c5b194cb2c68bbd30b58c362e3f6d348a54032b2 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
@@ -22,21 +22,15 @@
#pragma once
-
-// ArmarX
-#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
-#include <ArmarXCore/util/tasks.h>
-#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/services/tasks/TaskUtil.h>
-// RobotAPI
-#include <RobotAPI/interface/armem/server/MemoryInterface.h>
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/client/plugins.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
+
namespace armarx::robot_state
{
@@ -53,6 +47,7 @@ namespace armarx::robot_state
*/
class VirtualRobotReaderExampleClient :
virtual public armarx::Component,
+ // Use the memory client plugin.
virtual public armarx::armem::client::ComponentPluginUser
{
public:
@@ -70,6 +65,9 @@ namespace armarx::robot_state
void onDisconnectComponent() override;
void onExitComponent() override;
+
+ private:
+
void run();
@@ -79,17 +77,20 @@ namespace armarx::robot_state
{
std::string robotName{"Armar6"};
float updateFrequency{10.F};
- } p;
-
- armarx::PeriodicTask<VirtualRobotReaderExampleClient>::pointer_type task;
-
- armarx::DebugObserverInterfacePrx debugObserver;
+ };
+ Properties properties;
- // std::unique_ptr<::armarx::armem::articulated_object::Writer> articulatedObjectWriter;
+ // The running task which is started in onConnectComponent().
+ armarx::SimpleRunningTask<>::pointer_type task;
+ // The reader used to get the robot state.
armem::robot_state::VirtualRobotReader virtualRobotReader;
- std::shared_ptr<VirtualRobot::Robot> virtualRobot{nullptr};
+ // The Simox robot model.
+ VirtualRobot::RobotPtr robot = nullptr;
+
+ // For publishing timing information.
+ armarx::DebugObserverInterfacePrx debugObserver;
};
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index e2059d968293dce364030082be4455186400ce0b..77135658d4a93d47e0b4474002b589cf569de67f 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -73,7 +73,10 @@ namespace armarx
workingMemory().addCoreSegment("LinkedData", armem::example::LinkedData::ToAronType());
// We support the "Latest" prediction engine for the entire memory.
- workingMemory().addPredictionEngine({"Latest"});
+ workingMemory().addPredictor(
+ armem::PredictionEngine{.engineID = "Latest"},
+ [this](const armem::PredictionRequest& request)
+ { return this->predictLatest(request); });
// For illustration purposes, we add more segments (without types).
bool trim = true;
@@ -216,66 +219,44 @@ namespace armarx
}
// PREDICTING
-
- armem::prediction::data::PredictionResultSeq
- ExampleMemory::predict(const armem::prediction::data::PredictionRequestSeq& requests)
- {
- armem::prediction::data::PredictionResultSeq result;
- for (const auto& request : requests)
- {
- result.push_back(predictSingle(request));
- }
- return result;
- }
-
- armem::prediction::data::PredictionResult
- ExampleMemory::predictSingle(const armem::prediction::data::PredictionRequest& request)
+ armem::PredictionResult
+ ExampleMemory::predictLatest(const armem::PredictionRequest& request)
{
armem::PredictionResult result;
-
- std::string engine = request.settings.predictionEngineID;
- if (engine.empty() || engine == "Latest")
+ auto memID = request.snapshotID;
+ result.snapshotID = memID;
+
+ armem::client::QueryBuilder builder;
+ builder.latestEntitySnapshot(memID);
+ auto queryResult =
+ query(armarx::toIce<armem::query::data::Input>(builder.buildQueryInput()));
+ if (queryResult.success)
{
- auto boID = fromIce<armem::MemoryID>(request.snapshotID);
- armem::client::QueryBuilder builder;
- builder.latestEntitySnapshot(boID);
- auto queryResult =
- query(armarx::toIce<armem::query::data::Input>(builder.buildQueryInput()));
- if (queryResult.success)
+ auto readMemory = fromIce<armem::wm::Memory>(queryResult.memory);
+ auto* latest = readMemory.findLatestSnapshot(memID);
+ if (latest != nullptr)
{
- auto readMemory = fromIce<armem::wm::Memory>(queryResult.memory);
- auto* latest = readMemory.findLatestSnapshot(boID);
- if (latest != nullptr)
- {
- auto instance = boID.hasInstanceIndex()
- ? latest->getInstance(boID)
- : latest->getInstance(latest->getInstanceIndices().at(0));
- result.success = true;
- result.snapshotID = boID;
- result.prediction = instance.data();
- }
- else
- {
- result.success = false;
- result.errorMessage =
- "Could not find entity referenced by MemoryID '" + boID.str() + "'.";
- }
+ auto instance = memID.hasInstanceIndex()
+ ? latest->getInstance(memID)
+ : latest->getInstance(latest->getInstanceIndices().at(0));
+ result.success = true;
+ result.prediction = instance.data();
}
else
{
result.success = false;
result.errorMessage =
- "Could not find entity referenced by MemoryID '" + boID.str() + "'.";
+ "Could not find entity referenced by MemoryID '" + memID.str() + "'.";
}
}
else
{
result.success = false;
result.errorMessage =
- "This memory does not support the prediction engine '" + engine + "'.";
+ "Could not find entity referenced by MemoryID '" + memID.str() + "'.";
}
- return result.toIce();
+ return result;
}
// REMOTE GUI
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
index 76e437bcb6f6db0e31c023eed4386831267c5fc2..b41f1262755f8ddad59eb9dc3c03309766183116 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
@@ -28,6 +28,7 @@
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+#include <RobotAPI/libraries/armem/core/Prediction.h>
#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
@@ -71,11 +72,6 @@ namespace armarx
armem::actions::GetActionsOutputSeq getActions(const armem::actions::GetActionsInputSeq& input) override;
armem::actions::ExecuteActionOutputSeq executeActions(const armem::actions::ExecuteActionInputSeq& input) override;
- // PredictingMemoryInterface interface
- public:
- armem::prediction::data::PredictionResultSeq
- predict(const armem::prediction::data::PredictionRequestSeq& requests) override;
-
protected:
@@ -89,8 +85,7 @@ namespace armarx
private:
- armem::prediction::data::PredictionResult
- predictSingle(const armem::prediction::data::PredictionRequest& request);
+ armem::PredictionResult predictLatest(const armem::PredictionRequest& request);
armarx::DebugObserverInterfacePrx debugObserver;
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index fd3e2cdd938ca611c53ed13cf783744f399a8080..6fe11f3196b211677110b31dd697a3eb4f055d5d 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -32,20 +32,19 @@
#include <RobotAPI/libraries/armem/client/query.h>
#include <RobotAPI/libraries/armem/core/Prediction.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/aron/Marker.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/memory_ids.h>
namespace armarx::armem::server::obj
{
- const std::string ObjectMemory::defaultMemoryName = "Object";
-
-
armarx::PropertyDefinitionsPtr ObjectMemory::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs(new ComponentPropertyDefinitions(getConfigIdentifier()));
const std::string prefix = "mem.";
- workingMemory().name() = defaultMemoryName;
+ workingMemory().name() = objects::memoryID.memoryName;
classSegment.defineProperties(defs, prefix + "cls.");
instance::SegmentAdapter::defineProperties(defs, prefix + "inst.");
@@ -67,6 +66,9 @@ namespace armarx::armem::server::obj
"Duration of time window into the past to use for predictions"
" when requested via the PredictingMemoryInterface (in seconds).");
+ defs->optional(p.markerMemoryName, prefix + ".marker.Name", "Marker Memory Name");
+ defs->optional(p.maxMarkerHistorySize, prefix + ".marker.maxHistorySize", "Maximum marker memory history size");
+
return defs;
}
@@ -126,6 +128,13 @@ namespace armarx::armem::server::obj
{
attachmentSegment.init();
});
+
+ initSegmentWithCatch(p.markerMemoryName, [&]()
+ {
+ workingMemory()
+ .addCoreSegment(p.markerMemoryName, arondto::Marker::ToAronType())
+ .setMaxHistorySize(p.maxMarkerHistorySize);
+ });
}
@@ -288,9 +297,7 @@ namespace armarx::armem::server::obj
{
result.success = false;
result.errorMessage << "No predictions are supported for MemoryID "
- << boRequest.snapshotID
- << ". Have you given an instance index if requesting"
- << " an object pose prediction?";
+ << boRequest.snapshotID;
}
results.push_back(result.toIce());
}
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 4eb71acf3b9374eff330ae463acc208872a918f2..566d1fec8a6ea1fe39f12edabbaaaa76b08ea9e0 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -22,8 +22,8 @@
#pragma once
-#include "RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h"
-#include "RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h"
+#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
+#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
#include <RobotAPI/libraries/armem_objects/server/class/Segment.h>
#include <RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h>
#include <RobotAPI/libraries/armem_objects/server/attachments/Segment.h>
@@ -66,11 +66,6 @@ namespace armarx::armem::server::obj
, virtual public armarx::LightweightRemoteGuiComponentPluginUser
, virtual public armarx::ArVizComponentPluginUser
{
- public:
-
- static const std::string defaultMemoryName;
-
-
public:
ObjectMemory();
@@ -134,6 +129,12 @@ namespace armarx::armem::server::obj
};
std::unique_ptr<RemoteGuiTab> tab;
+ struct Properties {
+ int64_t maxMarkerHistorySize = -1;
+ std::string markerMemoryName = "Marker";
+ };
+ Properties p;
+
armem::client::plugins::ReaderWriterPlugin<robot_state::VirtualRobotReader>* virtualRobotReaderPlugin;
};
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index fc71209b76d3b0c356df7a9895e5af95ba43faaf..e3f006eaf4a554d13705868eaf812955b2fcfb12 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -21,21 +21,21 @@
*/
#include "RobotStateMemory.h"
-#include "RobotAPI/libraries/armem/core/forward_declarations.h"
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
#include <RobotAPI/interface/core/PoseBase.h>
#include <RobotAPI/libraries/core/Pose.h>
+#include <RobotAPI/libraries/armem/core/Prediction.h>
#include <RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h>
-
#include <RobotAPI/libraries/armem_robot_state/server/common/Visu.h>
+#include <RobotAPI/libraries/armem_robot_state/memory_ids.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/ice_conversions/ice_conversions_templates.h>
#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
#include <ArmarXCore/core/logging/Logging.h>
-#include <IceUtil/Time.h>
-
#include <SimoxUtility/algorithm/get_map_keys_values.h>
#include <SimoxUtility/algorithm/contains.h>
#include <SimoxUtility/algorithm/string.h>
@@ -83,7 +83,7 @@ namespace armarx::armem::server::robot_state
const std::string prefix = "mem.";
- setMemoryName("RobotState");
+ setMemoryName(armem::robot_state::memoryID.memoryName);
descriptionSegment.defineProperties(defs, prefix + "desc.");
proprioceptionSegment.defineProperties(defs, prefix + "prop.");
@@ -204,7 +204,6 @@ namespace armarx::armem::server::robot_state
return { new Pose(poseMap[robotName].matrix()) };
}
-
/*************************************************************/
// RobotUnit Streaming functions
/*************************************************************/
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
index d402496819431eded99b506b69fbab48e6804086..fb0329dc65699624bfd53236783846cdb3592876 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
@@ -132,7 +132,7 @@ namespace armarx::armem::server::robot_state
std::queue<proprioception::RobotUnitData> dataQueue;
std::mutex dataMutex;
- bool waitForRobotUnit = false;
+ bool waitForRobotUnit = false;
};
RobotUnit robotUnit;
};
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index d740b5f2385f3c95b2004ded5011586728bab65c..75882cf47a238bca9e67a1131829f75c20869ea2 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -138,10 +138,17 @@ namespace armarx
SkillManagerComponentPluginUser::removeProvider(skillProviderName, current);
}
- void SkillsMemory::executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t)
+ skills::provider::dto::SkillStatusUpdate SkillsMemory::executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t)
{
- skillExecutionRequestCoreSegment.addSkillExecutionRequest(info);
- SkillManagerComponentPluginUser::executeSkill(info, current);
+ skills::manager::dto::SkillExecutionRequest requestCopy = info;
+ if (requestCopy.skillId.providerName == "*")
+ {
+ // sanitize the provider name if set to 'any'
+ requestCopy.skillId.providerName = getFirstProviderNameThatHasSkill(requestCopy.skillId.skillName);
+ }
+
+ skillExecutionRequestCoreSegment.addSkillExecutionRequest(requestCopy);
+ return SkillManagerComponentPluginUser::executeSkill(requestCopy, current);
}
void SkillsMemory::updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update, const Ice::Current ¤t)
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index a71fcb4988315e3b1c1345a4362bd634d18eba4d..91506c16fb87793083328d173d973f19ad268e75 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -76,7 +76,7 @@ namespace armarx
// Override SkillManager to add memory functions
void addProvider(const skills::manager::dto::ProviderInfo& info, const Ice::Current ¤t) override;
void removeProvider(const std::string&, const Ice::Current ¤t) override;
- void executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t) override;
+ skills::provider::dto::SkillStatusUpdate executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t) override;
void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& statusUpdate, const Ice::Current ¤t) override;
// WritingInterface interface
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
index a5e0c8a639f90ae7572e87855a2a42ab8427c2f5..bc50155edc0d42a775c63ade67e35f38e34fd8c5 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.cpp
@@ -10,8 +10,11 @@
namespace armarx::skills::provider
{
+ HelloWorldSkill::HelloWorldSkill() :
+ Skill(GetSkillDescription())
+ {}
- SkillDescription CreateHelloWorldSkillDescription()
+ SkillDescription HelloWorldSkill::GetSkillDescription()
{
armarx::skills::Example::HelloWorldAcceptedType default_params;
default_params.some_float = 5;
@@ -22,34 +25,37 @@ namespace armarx::skills::provider
"HelloWorld",
"This skill logs a message on ARMARX_IMPORTANT",
{},
- 1000,
+ armarx::core::time::Duration::MilliSeconds(1000),
armarx::skills::Example::HelloWorldAcceptedType::ToAronType(),
default_params.toAron()
};
}
- HelloWorldSkill::HelloWorldSkill() :
- Skill(CreateHelloWorldSkillDescription())
- {}
- Skill::Status HelloWorldSkill::main(const aron::data::DictPtr& d, const CallbackT&)
+ Skill::MainResult HelloWorldSkill::main(const MainInput& in)
{
ARMARX_IMPORTANT << "Hi, from the Hello World Skill.\n" <<
"I received the following data: \n" <<
- aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(d).dump(2) << "\n" <<
+ aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(in.params).dump(2) << "\n" <<
"(executed at: " << IceUtil::Time::now() << ")";
- return Skill::Status::Succeeded;
+ return {TerminatedSkillStatus::Succeeded, nullptr};
}
ChainingSkill::ChainingSkill() :
- Skill(SkillDescription{
+ Skill(GetSkillDescription())
+ {}
+
+ SkillDescription ChainingSkill::GetSkillDescription()
+ {
+ return SkillDescription{
"ChainingSkill",
"This skill calls the HelloWorld skill three times.",
{},
- 3000,
+ armarx::core::time::Duration::MilliSeconds(3000),
nullptr
- })
- {}
- Skill::Status ChainingSkill::main(const aron::data::DictPtr& d, const CallbackT&)
+ };
+ }
+
+ Skill::MainResult ChainingSkill::main(const MainInput& in)
{
armarx::skills::Example::HelloWorldAcceptedType exec1;
armarx::skills::Example::HelloWorldAcceptedType exec2;
@@ -59,74 +65,69 @@ namespace armarx::skills::provider
exec2.some_text = "Hello from the ChainingSkill 2";
exec3.some_text = "Hello from the ChainingSkill 3";
- manager::dto::SkillExecutionRequest exec;
- exec.providerName = "SkillProviderExample";
- exec.skillName = "HelloWorld";
-
- exec.params = exec1.toAron()->toAronDictDTO();
- manager->executeSkill(exec);
+ SkillProxy skillExecPrx(manager, {"SkillProviderExample", "HelloWorld"});
- exec.params = exec2.toAron()->toAronDictDTO();
- manager->executeSkill(exec);
+ skillExecPrx.executeFullSkill(getSkillId().toString(), exec1.toAron());
+ skillExecPrx.executeFullSkill(getSkillId().toString(), exec2.toAron());
+ skillExecPrx.executeFullSkill(getSkillId().toString(), exec3.toAron());
- exec.params = exec3.toAron()->toAronDictDTO();
- manager->executeSkill(exec);
-
- return Skill::Status::Succeeded;
+ return {TerminatedSkillStatus::Succeeded, nullptr};
}
TimeoutSkill::TimeoutSkill() :
- Skill(SkillDescription{
+ PeriodicSkill(GetSkillDescription(), armarx::core::time::Frequency::Hertz(5))
+ {}
+
+ SkillDescription TimeoutSkill::GetSkillDescription()
+ {
+ return SkillDescription{
"Timeout",
"This fails with timeout reached",
{},
- 1000,
+ armarx::core::time::Duration::MilliSeconds(1000),
nullptr
- })
- {}
- Skill::Status TimeoutSkill::main(const aron::data::DictPtr& d, const CallbackT&)
+ };
+ }
+
+ PeriodicSkill::StepResult TimeoutSkill::step(const MainInput& in)
{
- int i = 0;
- while (!timeoutReached)
- {
- // do heavy work
- std::this_thread::sleep_for(std::chrono::milliseconds(200));
-
- // check if work is done
- if(i++ > 15)
- {
- ARMARX_IMPORTANT << "Somehow the timeout check succeceded....";
- return Skill::Status::Succeeded;
- }
- }
- return Skill::Status::TimeoutReached;
+ // do heavy work
+ std::this_thread::sleep_for(std::chrono::milliseconds(200));
+
+ return {ActiveOrTerminatedSkillStatus::Running, nullptr};
}
CallbackSkill::CallbackSkill() :
- Skill(SkillDescription{
+ Skill(GetSkillDescription())
+ {}
+
+ SkillDescription CallbackSkill::GetSkillDescription()
+ {
+ return SkillDescription{
"ShowMeCallbacks",
"This skill does shows callbacks",
{},
- 1000,
+ armarx::core::time::Duration::MilliSeconds(1000),
nullptr
- })
- {}
- Skill::Status CallbackSkill::main(const aron::data::DictPtr& d, const CallbackT& callback)
+ };
+ }
+
+ Skill::MainResult CallbackSkill::main(const MainInput& in)
{
ARMARX_IMPORTANT << "Logging three updates via the callback";
auto up1 = std::make_shared<aron::data::Dict>();
up1->addElement("updateInfo", std::make_shared<aron::data::String>("Update 1"));
- callback(up1);
+ in.callback(up1);
auto up2 = std::make_shared<aron::data::Dict>();
up2->addElement("updateInfo", std::make_shared<aron::data::String>("Update 2"));
- callback(up2);
+ in.callback(up2);
auto up3 = std::make_shared<aron::data::Dict>();
up3->addElement("updateInfo", std::make_shared<aron::data::String>("Update 3"));
- callback(up3);
+ in.callback(up3);
- return Skill::Status::Succeeded;
+ return {TerminatedSkillStatus::Succeeded, nullptr};
}
@@ -156,8 +157,11 @@ namespace armarx::skills::provider
fooDesc.acceptedType = nullptr; // accept everything
fooDesc.description = "This skill does exactly nothing.";
fooDesc.skillName = "Foo";
- fooDesc.timeoutMs = 1000;
- addSkill([](const aron::data::DictPtr&){ std::cout << "Hello from Foo" << std::endl; return true; }, fooDesc);
+ fooDesc.timeout = armarx::core::time::Duration::MilliSeconds(1000);
+ addSkill([](const std::string& clientId, const aron::data::DictPtr&){
+ std::cout << "Hello from Foo. The skill was called from " << clientId << "." << std::endl;
+ return TerminatedSkillStatus::Succeeded;
+ }, fooDesc);
}
// Add another example skill
diff --git a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
index 8ed9ffc9e2326724df01d83292e6561f6b54d959..cbd795396941e1d004fd5f7fdf0fa946d70cb71e 100644
--- a/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
+++ b/source/RobotAPI/components/skills/SkillProviderExample/SkillProviderExample.h
@@ -27,6 +27,7 @@
#include <ArmarXCore/core/Component.h>
// RobotAPI
+#include <RobotAPI/libraries/skills/provider/SkillProxy.h>
#include <RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h>
namespace armarx::skills::provider
@@ -36,22 +37,34 @@ namespace armarx::skills::provider
{
public:
HelloWorldSkill();
- Status main(const aron::data::DictPtr&, const CallbackT&) final;
+
+ static SkillDescription GetSkillDescription();
+
+ private:
+ Skill::MainResult main(const MainInput& in) final;
};
class ChainingSkill : public Skill
{
public:
ChainingSkill();
- Status main(const aron::data::DictPtr&, const CallbackT&) final;
+
+ static SkillDescription GetSkillDescription();
+
+ private:
+ Skill::MainResult main(const MainInput& in) final;
};
- class TimeoutSkill : public Skill
+ class TimeoutSkill : public PeriodicSkill
{
public:
TimeoutSkill();
- Status main(const aron::data::DictPtr&, const CallbackT&) final;
+
+ static SkillDescription GetSkillDescription();
+
+ private:
+ PeriodicSkill::StepResult step(const MainInput& in) final;
};
@@ -59,7 +72,11 @@ namespace armarx::skills::provider
{
public:
CallbackSkill();
- Status main(const aron::data::DictPtr&, const CallbackT&) final;
+
+ static SkillDescription GetSkillDescription();
+
+ private:
+ Skill::MainResult main(const MainInput& in) final;
};
/**
diff --git a/source/RobotAPI/components/units/PlatformUnit.cpp b/source/RobotAPI/components/units/PlatformUnit.cpp
index 83da0bb8486a38a075e10c9c6fae5a273c254f51..a5414a34e838b6fd2268f7bfb26ddc527530624f 100644
--- a/source/RobotAPI/components/units/PlatformUnit.cpp
+++ b/source/RobotAPI/components/units/PlatformUnit.cpp
@@ -38,7 +38,7 @@ namespace armarx
def->topic(odometryPrx);
def->topic(globalPosePrx);
- // def->topic(listenerPrx, listenerChannelName, "");
+ def->topic(listenerPrx, "PlatformState");
def->component(robotStateComponent);
@@ -50,17 +50,12 @@ namespace armarx
{
std::string platformName = getProperty<std::string>("PlatformName").getValue();
- listenerChannelName = platformName + "State";
- offeringTopic(listenerChannelName);
-
this->onInitPlatformUnit();
}
void PlatformUnit::onConnectComponent()
{
- listenerPrx = getTopic<PlatformUnitListenerPrx>(listenerChannelName);
-
this->onStartPlatformUnit();
}
diff --git a/source/RobotAPI/components/units/PlatformUnit.h b/source/RobotAPI/components/units/PlatformUnit.h
index 1b0b9499a4f50e6ec0b64631aaf9f85c9fa5bca5..ee3c2a6999c0ba4f1f9560106f818826162c432f 100644
--- a/source/RobotAPI/components/units/PlatformUnit.h
+++ b/source/RobotAPI/components/units/PlatformUnit.h
@@ -117,7 +117,7 @@ namespace armarx
protected:
- std::string listenerChannelName;
+ // std::string listenerChannelName;
/**
* PlatformUnitListener proxy for publishing state updates
*/
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.cpp b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
index d0e0cd8e0162983b77708d5499b60c6e012d71ba..2db1b8dae17b84c6d0ef98fea1129cebd97f9e75 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.cpp
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.cpp
@@ -21,6 +21,8 @@
*/
#include "PlatformUnitObserver.h"
+#include <Eigen/src/Geometry/Transform.h>
+#include <SimoxUtility/math/convert/mat3f_to_rpy.h>
#include "PlatformUnit.h"
@@ -54,13 +56,13 @@ namespace armarx
offerConditionCheck("smaller", new ConditionCheckSmaller());
usingTopic(platformNodeName + "State");
+ usingTopic("GlobalRobotPoseLocalization");
}
void PlatformUnitObserver::onConnectObserver()
{
// register all channels
offerChannel("platformPose", "Current Position of " + platformNodeName);
- offerChannel("targetPose", "Target Position of " + platformNodeName);
offerChannel("platformVelocity", "Current velocity of " + platformNodeName);
offerChannel("platformOdometryPose", "Current Odometry Position of " + platformNodeName);
@@ -69,10 +71,6 @@ namespace armarx
offerDataField("platformPose", "positionY", VariantType::Float, "Current Y position of " + platformNodeName + " in mm");
offerDataField("platformPose", "rotation", VariantType::Float, "Current Rotation of " + platformNodeName + " in radian");
- offerDataField("targetPose", "positionX", VariantType::Float, "Target X position of " + platformNodeName + " in mm");
- offerDataField("targetPose", "positionY", VariantType::Float, "Target Y position of " + platformNodeName + " in mm");
- offerDataField("targetPose", "rotation", VariantType::Float, "Target Rotation of " + platformNodeName + " in radian");
-
offerDataField("platformVelocity", "velocityX", VariantType::Float, "Current X velocity of " + platformNodeName + " in mm/s");
offerDataField("platformVelocity", "velocityY", VariantType::Float, "Current Y velocity of " + platformNodeName + " in mm/s");
offerDataField("platformVelocity", "velocityRotation", VariantType::Float, "Current Rotation velocity of " + platformNodeName + " in radian/s");
@@ -86,16 +84,16 @@ namespace armarx
}
- void PlatformUnitObserver::reportPlatformPose(PlatformPose const& currentPose, const Ice::Current& c)
+ void PlatformUnitObserver::reportGlobalRobotPose(const ::armarx::TransformStamped& transformStamped, const ::Ice::Current&)
{
- nameValueMapToDataFields("platformPose", currentPose.x, currentPose.y, currentPose.rotationAroundZ);
- updateChannel("platformPose");
- }
+ const Eigen::Isometry3f global_T_robot(transformStamped.transform);
+
+ const float x = global_T_robot.translation().x();
+ const float y = global_T_robot.translation().y();
+ const float rotationAroundZ = simox::math::mat3f_to_rpy(global_T_robot.linear()).z();
- void PlatformUnitObserver::reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c)
- {
- nameValueMapToDataFields("targetPose", newPlatformPositionX, newPlatformPositionY, newPlatformRotation);
- updateChannel("targetPose");
+ nameValueMapToDataFields("platformPose", x, y, rotationAroundZ);
+ updateChannel("platformPose");
}
void PlatformUnitObserver::reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c)
@@ -128,4 +126,6 @@ namespace armarx
nameValueMapToDataFields("platformOdometryPose", x, y, angle);
updateChannel("platformOdometryPose");
}
+
+
}
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.h b/source/RobotAPI/components/units/PlatformUnitObserver.h
index 66b24989d267e30fb9a6f1ebe3e3f3bfa3a0dced..20cdfefcd7c380eccf2e1144b3d4206b239cf088 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.h
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.h
@@ -25,6 +25,7 @@
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/core/Component.h>
+#include <RobotAPI/interface/core/RobotLocalization.h>
#include <RobotAPI/interface/observers/PlatformUnitObserverInterface.h>
#include <ArmarXCore/interface/observers/VariantBase.h>
@@ -78,11 +79,13 @@ namespace armarx
void onConnectObserver() override;
// slice interface implementation
- void reportPlatformPose(PlatformPose const& currentPose, const Ice::Current& c = Ice::emptyCurrent) override;
- void reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c = Ice::emptyCurrent) override;
void reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c = Ice::emptyCurrent) override;
void reportPlatformOdometryPose(Ice::Float x, Ice::Float y, Ice::Float angle, const Ice::Current&) override;
+ // slice interface implementation
+ void reportGlobalRobotPose(const ::armarx::TransformStamped&, const ::Ice::Current& = ::Ice::emptyCurrent) override;
+
+
std::string getDefaultName() const override
{
return "PlatformUnitObserver";
@@ -143,6 +146,5 @@ namespace armarx
namespace armarx::channels::PlatformUnitObserver
{
const PlatformUnitDatafieldCreator platformPose("platformPose");
- const PlatformUnitDatafieldCreator targetPose("targetPose");
const PlatformUnitDatafieldCreator platformVelocity("platformVelocity");
}
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.cpp b/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
index 3c9cde6b67a1106976beee9032795262755a4be3..6abaa676025df57bbfbbde4f61ad147ac54e97eb 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.cpp
@@ -103,8 +103,6 @@ namespace armarx
globalPosePrx->reportGlobalRobotPose(currentPose);
- // legacy
- listenerPrx->reportPlatformPose(toPlatformPose(currentPose));
simulationTask->start();
}
@@ -229,8 +227,17 @@ namespace armarx
odometryPrx->reportOdometryPose(platformPose);
odometryPrx->reportOdometryVelocity(platformVelocity);
- // legacy
- listenerPrx->reportPlatformPose(toPlatformPose(platformPose));
+ {
+ TransformStamped currentPose;
+ currentPose.header.parentFrame = GlobalFrame;
+ currentPose.header.frame = robotRootFrame;
+ currentPose.header.agent = agentName;
+ currentPose.header.timestampInMicroSeconds = TimeUtil::GetTime().toMicroSeconds();
+ currentPose.transform = currentPlatformPose();
+
+ globalPosePrx->reportGlobalRobotPose(currentPose);
+ }
+
// legacy
const auto& velo = platformVelocity.twist;
@@ -259,9 +266,6 @@ namespace armarx
TransformStamped targetPose;
targetPose.header = header;
targetPose.transform = VirtualRobot::MathTools::posrpy2eigen4f(targetPositionX, targetPositionY, 0, 0, 0, targetRotation);
-
- const auto tp = toPlatformPose(targetPose);
- listenerPrx->reportNewTargetPose(tp.x, tp.y, tp.rotationAroundZ);
}
void armarx::PlatformUnitSimulation::move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation, const Ice::Current& c)
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
index 24f8ac9db2bd10eb6c9e8e7e2f36ac75931a69e0..93ea9a009c91a8c46b2c96ac0ac4917d0fb36850 100755
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
@@ -61,7 +61,6 @@ namespace armarx
// PlatformUnit interface
void onInitPlatformUnit() override
{
- usingTopic("PlatformState");
}
void onStartPlatformUnit() override
{
diff --git a/source/RobotAPI/drivers/SickLaserUnit/SickScanAdapter.cpp b/source/RobotAPI/drivers/SickLaserUnit/SickScanAdapter.cpp
index 40250b2b1a7d0dc472806715fe6c4daf9b532f17..5cabc89ddbb4843acc00a24c42a35b03d87f99b8 100644
--- a/source/RobotAPI/drivers/SickLaserUnit/SickScanAdapter.cpp
+++ b/source/RobotAPI/drivers/SickLaserUnit/SickScanAdapter.cpp
@@ -685,7 +685,7 @@ namespace armarx
frame.getRawData() +
frame.size()));
// recvQueue.push(std::vector<unsigned char>(frame.getRawData(), frame.getRawData() + frame.size()));
- recvQueue.push(dataGramWidthTimeStamp);
+ recvQueue.commit(dataGramWidthTimeStamp);
}
void SickScanAdapter::readCallbackFunction(UINT8* buffer, UINT32& numOfBytes)
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
index 132f0b639df824fe91a3b6bd9f25427f50950d7d..a7c2374677fde81a140b3479a3dd626101d79525 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp
@@ -26,6 +26,8 @@
#include <RobotAPI/gui-plugins/PlatformUnitPlugin/ui_PlatformUnitConfigDialog.h>
#include <ArmarXCore/core/system/ArmarXDataPath.h>
+#include <Eigen/Geometry>
+
// Qt headers
#include <Qt>
#include <QtGlobal>
@@ -35,6 +37,8 @@
#include <QHBoxLayout>
//std
+#include <RobotAPI/interface/core/RobotLocalization.h>
+#include <SimoxUtility/math/convert/mat3f_to_rpy.h>
#include <memory>
#include <cmath>
@@ -86,8 +90,8 @@ PlatformUnitWidget::PlatformUnitWidget() :
void PlatformUnitWidget::onInitComponent()
{
usingProxy(platformUnitProxyName);
- usingTopic(platformName + "State");
- ARMARX_INFO << "Listening on Topic: " << platformName + "State";
+ usingTopic("GlobalRobotPoseLocalization");
+ // ARMARX_INFO << "Listening on Topic: " << platformName + "State";
}
@@ -177,7 +181,6 @@ void PlatformUnitWidget::setNewPlatformPoseLabels(float x, float y, float alpha)
ui.labelCurrentPositionX->setText(QString::number(x));
ui.labelCurrentPositionY->setText(QString::number(y));
ui.labelCurrentRotation->setText(QString::number(alpha));
-
}
@@ -203,26 +206,16 @@ void PlatformUnitWidget::stopControlTimer()
}
-void PlatformUnitWidget::reportPlatformPose(PlatformPose const& currentPose, const Ice::Current& c)
+void PlatformUnitWidget::reportGlobalRobotPose(const ::armarx::TransformStamped& transformStamped, const ::Ice::Current&)
{
- // moved to qt thread for thread safety
- QMetaObject::invokeMethod(this, "setNewPlatformPoseLabels", Q_ARG(float, currentPose.x), Q_ARG(float, currentPose.y), Q_ARG(float, currentPose.rotationAroundZ));
- platformRotation = currentPose.rotationAroundZ;
-}
+ const Eigen::Isometry3f global_T_robot(transformStamped.transform);
+ const float x = global_T_robot.translation().x();
+ const float y = global_T_robot.translation().y();
+ const float yaw = simox::math::mat3f_to_rpy(global_T_robot.linear()).z();
-
-void PlatformUnitWidget::reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c)
-{
// moved to qt thread for thread safety
- QMetaObject::invokeMethod(this, "setNewTargetPoseLabels",
- Q_ARG(float, newPlatformPositionX),
- Q_ARG(float, newPlatformPositionY),
- Q_ARG(float, newPlatformRotation));
-}
-
-void PlatformUnitWidget::reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c)
-{
-
+ QMetaObject::invokeMethod(this, "setNewPlatformPoseLabels", Q_ARG(float, x), Q_ARG(float, y), Q_ARG(float, yaw));
+ platformRotation = yaw;
}
@@ -396,9 +389,3 @@ void KeyboardPlatformHookWidget::keyReleaseEvent(QKeyEvent* event)
}
QWidget::keyReleaseEvent(event);
}
-
-
-void armarx::PlatformUnitWidget::reportPlatformOdometryPose(Ice::Float, Ice::Float, Ice::Float, const Ice::Current&)
-{
- // ignore for now
-}
diff --git a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
index aeb8e8ce8f414bac77ec83e9e9237679b76873c8..7587750d212e51f88666dffcf236556370b432c3 100644
--- a/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
+++ b/source/RobotAPI/gui-plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h
@@ -30,6 +30,7 @@
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <RobotAPI/interface/core/RobotLocalization.h>
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
/* Qt headers */
@@ -101,7 +102,7 @@ namespace armarx
*/
class PlatformUnitWidget :
public ArmarXComponentWidgetControllerTemplate<PlatformUnitWidget>,
- public PlatformUnitListener
+ public GlobalRobotPoseLocalizationListener
{
Q_OBJECT
public:
@@ -116,11 +117,8 @@ namespace armarx
void onExitComponent() override;
// slice interface implementation
- void reportPlatformPose(PlatformPose const& currentPose, const Ice::Current& c = Ice::emptyCurrent) override;
- void reportNewTargetPose(::Ice::Float newPlatformPositionX, ::Ice::Float newPlatformPositionY, ::Ice::Float newPlatformRotation, const Ice::Current& c = Ice::emptyCurrent) override;
- void reportPlatformVelocity(::Ice::Float currentPlatformVelocityX, ::Ice::Float currentPlatformVelocityY, ::Ice::Float currentPlatformVelocityRotation, const Ice::Current& c = Ice::emptyCurrent) override;
- void reportPlatformOdometryPose(Ice::Float, Ice::Float, Ice::Float, const Ice::Current&) override;
-
+ void reportGlobalRobotPose(const ::armarx::TransformStamped& transformStamped, const ::Ice::Current& = ::Ice::emptyCurrent) override;
+
// inherited of ArmarXWidget
static QString GetWidgetName()
{
@@ -228,4 +226,3 @@ namespace armarx
};
using PlatformUnitGuiPluginPtr = std::shared_ptr<PlatformUnitWidget>;
}
-
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
index 00d50db0a789bec5a044839e31189ba429414b07..3aa3984c65aad167af2b49e94ab34130c880c998 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui
@@ -14,6 +14,31 @@
<string>SkillManagerMonitorWidget</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QGroupBox" name="groupBoxActiveSkills">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="title">
+ <string>Active Skills</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_3">
+ <item row="0" column="0">
+ <widget class="QListWidget" name="listWidgetActiveSkills">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
<item>
<widget class="QSplitter" name="splitter">
<property name="orientation">
diff --git a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
index 4c3e3a983d6acd45abbadd4626ab374acdd10541..27a954593ad99d252410ffec11d086689c1d9e07 100644
--- a/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp
@@ -28,6 +28,8 @@
#include "aronTreeWidget/visitors/AronTreeWidgetConverter.h"
#include "aronTreeWidget/visitors/AronTreeWidgetModalCreator.h"
+#include <RobotAPI/libraries/skills/provider/Skill.h>
+
// modals
#include "aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h"
@@ -158,6 +160,7 @@ namespace armarx
if (!connected)
return;
+ /* CHECK OWN SKILLS LIST */
// remove non-existing ones
auto managerSkills = manager->getSkillDescriptions();
std::vector<std::string> removedProviders;
@@ -187,6 +190,7 @@ namespace armarx
}
}
+ /* CHECK TREE VIEW */
// remove providers from tree
int i = 0;
while (i < widget.treeWidgetSkills->topLevelItemCount())
@@ -218,7 +222,8 @@ namespace armarx
}
}
- // update status
+ // update status and active skills window
+ std::map<skills::SkillID, std::string> activeSkillsAndPrefixes;
auto managerStatuses = manager->getSkillExecutionStatuses();
for (int i = 0; i < widget.treeWidgetSkills->topLevelItemCount(); ++i)
{
@@ -232,20 +237,50 @@ namespace armarx
for (int j = 0; j < item->childCount(); ++j)
{
QTreeWidgetItem* skillItem = item->child(j);
- auto skillName = skillItem->text(0).toStdString();
-
- auto statusForSkill = allStatusesForProvider.at(skillName);
+ skills::SkillID currentSkillId(providerName, skillItem->text(0).toStdString());
+ auto statusForSkill = allStatusesForProvider.at(currentSkillId.skillName);
skillItem->setText(2, QString::fromStdString(ExecutionStatus2String.at(statusForSkill.header.status)));
+
+ if (not statusForSkill.header.executorName.empty()) // it means that the skill was called by someone
+ {
+ activeSkillsAndPrefixes.insert({currentSkillId, statusForSkill.header.executorName});
+ }
}
}
catch (const std::exception& e)
{
// Perhaps the skill provider died after the check at the beginning of this method
- // Continue
continue;
}
}
+
+ // finally update the view of active skills
+ widget.listWidgetActiveSkills->clear();
+ for (const auto& [id, prefix] : activeSkillsAndPrefixes)
+ {
+ auto prefixedStr = id.toString(prefix);
+ bool longest = true;
+ for (const auto& [id2, prefix2] : activeSkillsAndPrefixes) // check if there is a deeper skill currently executing
+ {
+ auto prefixedStr2 = id.toString(prefix2);
+ if (prefixedStr == prefixedStr2)
+ {
+ continue;
+ }
+
+ if (simox::alg::starts_with(prefixedStr2, prefixedStr))
+ {
+ longest = false;
+ break;
+ }
+ }
+
+ if (longest)
+ {
+ widget.listWidgetActiveSkills->addItem(QString::fromStdString(id.toString() + ": " + id.toString(prefix)));
+ }
+ }
}
void SkillManagerMonitorWidgetController::executeSkill()
@@ -263,9 +298,13 @@ namespace armarx
auto data = getConfigAsAron();
+ char hostname[HOST_NAME_MAX];
+
+ gethostname(hostname, HOST_NAME_MAX);
+
skills::manager::dto::SkillExecutionRequest exInfo;
- exInfo.providerName = selectedSkill.providerName;
- exInfo.skillName = selectedSkill.skillName;
+ exInfo.executorName = "Skills.Manager GUI (hostname: " + std::string(hostname) + ")";
+ exInfo.skillId = {selectedSkill.providerName, selectedSkill.skillName};
exInfo.params = aron::data::Dict::ToAronDictDTO(data);
ARMARX_IMPORTANT << "Executing skill from GUI: " << selectedSkill.providerName << "/" << selectedSkill.skillName << ". The data was: " << data;
diff --git a/source/RobotAPI/interface/armem/addon/LegacyRobotStateMemoryAdapterInterface.ice b/source/RobotAPI/interface/armem/addon/LegacyRobotStateMemoryAdapterInterface.ice
index ffd72e20c51675c207869ae3c8c66e52b84c77fa..baad0e798bc8a3762ec28ac4394b1a3556e3c576 100644
--- a/source/RobotAPI/interface/armem/addon/LegacyRobotStateMemoryAdapterInterface.ice
+++ b/source/RobotAPI/interface/armem/addon/LegacyRobotStateMemoryAdapterInterface.ice
@@ -2,6 +2,7 @@
#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
+#include <RobotAPI/interface/core/RobotLocalization.ice>
module armarx
{
@@ -9,7 +10,7 @@ module armarx
{
module robot_state
{
- interface LegacyRobotStateMemoryAdapterInterface extends armarx::KinematicUnitListener, armarx::PlatformUnitListener
+ interface LegacyRobotStateMemoryAdapterInterface extends armarx::KinematicUnitListener, armarx::PlatformUnitListener, armarx::GlobalRobotPoseLocalizationListener
{
}
}
diff --git a/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice b/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice
index 1da45e9db1429cb4319b0c477c8ef16ec6fb3024..bd831fe2294dd8476c6fb3b3a73fb776c2acf2d2 100644
--- a/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice
+++ b/source/RobotAPI/interface/armem/server/RecordingMemoryInterface.ice
@@ -65,7 +65,8 @@ module armarx
struct StartRecordInput {
armarx::core::time::dto::DateTime executionTime;
- string recordingID; //recordingID is formatted: timestamp_recordingName
+ string recordingID;
+ armarx::core::time::dto::DateTime startTime;
Configuration configuration;
};
}
diff --git a/source/RobotAPI/interface/core/RobotState.ice b/source/RobotAPI/interface/core/RobotState.ice
index a80b9b22c09d331e30f726dfb751c45543319fc5..6b6ad3bd501a57603a8da4226cd92e7f59ba1796 100644
--- a/source/RobotAPI/interface/core/RobotState.ice
+++ b/source/RobotAPI/interface/core/RobotState.ice
@@ -24,13 +24,14 @@
#pragma once
#include <ArmarXCore/interface/events/SimulatorResetEvent.ice>
-#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
-#include <RobotAPI/interface/units/PlatformUnitInterface.ice>
-#include <RobotAPI/interface/core/FramedPoseBase.ice>
-
#include <ArmarXCore/interface/observers/Timestamp.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
#include <ArmarXCore/interface/serialization/Eigen.ice>
+
+#include <RobotAPI/interface/units/KinematicUnitInterface.ice>
+#include <RobotAPI/interface/core/FramedPoseBase.ice>
+#include <RobotAPI/interface/core/RobotLocalization.ice>
+
#include <Ice/BuiltinSequences.ice>
module armarx
@@ -188,7 +189,6 @@ module armarx
*/
interface RobotStateComponentInterface extends
KinematicUnitListener,
- PlatformUnitListener,
GlobalRobotPoseLocalizationListener,
SimulatorResetEvent
{
diff --git a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
index e7eddd170418f8ed671695807e3817e0522bf1da..20709f1fedeb65bb3766d2008607ee750a74965a 100644
--- a/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
+++ b/source/RobotAPI/interface/observers/PlatformUnitObserverInterface.ice
@@ -26,10 +26,11 @@
#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+#include <RobotAPI/interface/core/RobotLocalization.ice>
+
module armarx
{
- interface PlatformUnitObserverInterface extends ObserverInterface, PlatformUnitListener
+ interface PlatformUnitObserverInterface extends ObserverInterface, PlatformUnitListener, GlobalRobotPoseLocalizationListener
{
};
};
-
diff --git a/source/RobotAPI/interface/skills/SkillManagerInterface.ice b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
index 28712a953e389ff54a7b7bab2f2a5cf48e24526e..088d28561684e1a604595f63af4aad6903e4caaf 100644
--- a/source/RobotAPI/interface/skills/SkillManagerInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillManagerInterface.ice
@@ -22,7 +22,6 @@
#pragma once
-//#include <RobotAPI/interface/skills/SkillProviderCallbackInterface.ice>
#include <RobotAPI/interface/skills/SkillProviderInterface.ice>
module armarx
@@ -36,9 +35,9 @@ module armarx
// Inputs
struct SkillExecutionRequest
{
- string providerName;
- string skillName;
- aron::data::dto::Dict params;
+ string executorName; // Who called the request
+ provider::dto::SkillID skillId; // The id of a skill to request. Note that the skill or provider name can be regexes.
+ aron::data::dto::Dict params; // the parameters for the skill. Can be nullptr if the skill does not require parameters
};
struct ProviderInfo
{
@@ -56,7 +55,7 @@ module armarx
{
interface SkillManagerInterface extends callback::dti::SkillProviderCallbackInterface
{
- // There is by design no method to access the providerPrx. You should only communicate with the manager
+ // There is by design no method to get the ProviderInfo. You should only communicate with the manager
void addProvider(dto::ProviderInfo providerInfo);
void removeProvider(string providerName);
@@ -64,7 +63,7 @@ module armarx
dto::SkillDescriptionMapMap getSkillDescriptions();
dto::SkillStatusUpdateMapMap getSkillExecutionStatuses();
- void executeSkill(dto::SkillExecutionRequest skillExecutionInfo);
+ provider::dto::SkillStatusUpdate executeSkill(dto::SkillExecutionRequest skillExecutionInfo);
void abortSkill(string providerName, string skillName);
};
diff --git a/source/RobotAPI/interface/skills/SkillProviderInterface.ice b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
index 33fbf744fb2ec84fee801b980106ca80cc020fe9..ed40611c800bfccba6f44310ca5d88639d83c02f 100644
--- a/source/RobotAPI/interface/skills/SkillProviderInterface.ice
+++ b/source/RobotAPI/interface/skills/SkillProviderInterface.ice
@@ -51,25 +51,32 @@ module armarx
{
sequence<string> StringList;
- // Description of a skill. Needs to be sent to a skill manager or memory
+ // A skill ID. Must be unique within one SkillManager
+ struct SkillID
+ {
+ string providerName;
+ string skillName;
+ };
+
+ // Description of a skill, independant of a provider
// A skill is nothing but a executable thing, which can be executed on one or more 'robots' (empty means all)
struct SkillDescription
{
string skillName; // the name of the skill
- string description; // a human readable description of what the skill does
- StringList robots; // the names of the robotis that are able to eecute that skill
- long timeoutMs; // in milliseconds
- aron::type::dto::AronObject acceptedType; // the name of the object is irrelevant and only used in GUI
+ string description; // a human readable description of what the skill does. Used in GUI
+ StringList robots; // the names of the robots that are able to execute that skill
+ long timeoutMs; // in milliseconds, can be set to -1 for infinite
+ aron::type::dto::AronObject acceptedType; // the name of the object is irrelevant and only used in GUI. nullptr if not set
aron::data::dto::Dict defaultParams; // the default parameterization used in GUI. nullptr if not set
};
dictionary<string, SkillDescription> SkillDescriptionMap;
- // Inputs
+ // Input to a provider to execute a skill
struct SkillExecutionRequest
{
- string skillName;
- string requesterName;
- aron::data::dto::Dict params;
+ string skillName; // the id of the skill
+ string executorName; // the name of the component/lib/skill that called the execution of the skill
+ aron::data::dto::Dict params; // the used parameterization
callback::dti::SkillProviderCallbackInterface* callbackInterface; // use nullptr if you do not want to have callbacks
};
@@ -92,17 +99,17 @@ module armarx
// Status updates of a skill
struct SkillStatusUpdateHeader
{
- string providerName; // the name of the provider the skill is currently running on
- string skillName;
- aron::data::dto::Dict usedParams;
- callback::dti::SkillProviderCallbackInterface* usedCallbackInterface;
- Execution::Status status;
+ SkillID skillId; // the id of the skill
+ string executorName; // the name of the component/lib/skill that called the execution of the skill
+ aron::data::dto::Dict usedParams; // the used parameterization
+ callback::dti::SkillProviderCallbackInterface* usedCallbackInterface; // the used callback interface. Probably a prx to the manager
+ Execution::Status status; // the current status of the skill
};
struct SkillStatusUpdate
{
SkillStatusUpdateHeader header;
- aron::data::dto::Dict data; // can be anything
+ aron::data::dto::Dict data; // data, attached to the status update. If send via a callback, this data may be used by the callback interface
};
dictionary<string, SkillStatusUpdate> SkillStatusUpdateMap;
@@ -110,7 +117,6 @@ module armarx
module dti
{
-
interface SkillProviderInterface
{
dto::SkillDescription getSkillDescription(string name);
@@ -120,7 +126,8 @@ module armarx
// execute skill will ALWAYS fully execute the skill and wait, until the skill is finished.
// Use the _begin() method, if you want to call a skill async
- void executeSkill(dto::SkillExecutionRequest executionInfo);
+ // This method returns a status update where the status is ALWAYS one of the terminating values
+ dto::SkillStatusUpdate executeSkill(dto::SkillExecutionRequest executionInfo);
// try to kill a skill as soon as possible. When the skill is stopped depends on the implementation.
void abortSkill(string skill);
diff --git a/source/RobotAPI/interface/units/PlatformUnitInterface.ice b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
index f7f62d13d0b490fd50284582096e0308fff90223..f83ad97cf10f83c8975a8c79f1b44deecd594d4e 100644
--- a/source/RobotAPI/interface/units/PlatformUnitInterface.ice
+++ b/source/RobotAPI/interface/units/PlatformUnitInterface.ice
@@ -24,22 +24,22 @@
#pragma once
-#include <RobotAPI/interface/units/UnitInterface.ice>
-
-#include <ArmarXCore/interface/core/UserException.ice>
#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/core/UserException.ice>
+
#include <RobotAPI/interface/core/GeometryBase.ice>
#include <RobotAPI/interface/core/RobotLocalization.ice>
+#include <RobotAPI/interface/units/UnitInterface.ice>
module armarx
-{
- /**
+{
+ /**
* Implements an interface to an PlatformUnit.
**/
interface PlatformUnitInterface extends SensorActorUnitInterface
{
- /**
+ /**
* moveTo moves the platform to a global pose specified by:
* @param targetPlatformPositionX Global x-coordinate of target position.
* @param targetPlatformPositionY Global y-coordinate of target position.
@@ -47,14 +47,20 @@ module armarx
* @param postionalAccuracy Platform stops translating if distance to target position gets lower than this threshhold.
* @param orientationalAccuracy Platform stops rotating if distance from current to target orientation gets lower than this threshhold.
**/
- void moveTo(float targetPlatformPositionX, float targetPlatformPositionY, float targetPlatformRotation, float positionalAccuracy, float orientationalAccuracy);
+ void moveTo(float targetPlatformPositionX,
+ float targetPlatformPositionY,
+ float targetPlatformRotation,
+ float positionalAccuracy,
+ float orientationalAccuracy);
/**
* move moves the platform with given velocities.
* @param targetPlatformVelocityX x-coordinate of target velocity defined in platform root.
* @param targetPlatformVelocityY y-coordinate of target velocity defined in platform root.
* @param targetPlatformVelocityRotation Target orientational velocity defined in platform root.
**/
- void move(float targetPlatformVelocityX, float targetPlatformVelocityY, float targetPlatformVelocityRotation);
+ void move(float targetPlatformVelocityX,
+ float targetPlatformVelocityY,
+ float targetPlatformVelocityRotation);
/**
* moveRelative moves to a pose defined in platform coordinates.
* @param targetPlatformOffsetX x-coordinate of target position defined in platform root.
@@ -63,7 +69,11 @@ module armarx
* @param postionalAccuracy Platform stops translating if distance to target position gets lower than this threshhold.
* @param orientationalAccuracy Platform stops rotating if distance from current to target orientation gets lower than this threshhold.
**/
- void moveRelative(float targetPlatformOffsetX, float targetPlatformOffsetY, float targetPlatformOffsetRotation, float positionalAccuracy, float orientationalAccuracy);
+ void moveRelative(float targetPlatformOffsetX,
+ float targetPlatformOffsetY,
+ float targetPlatformOffsetRotation,
+ float positionalAccuracy,
+ float orientationalAccuracy);
/**
* setMaxVelocities allows to specify max velocities in translation and orientation.
* @param positionalVelocity Max translation velocity.
@@ -84,42 +94,28 @@ module armarx
float rotationAroundZ = 0.0f;
};
- /**
+ /**
* Implements an interface to an PlatformUnitListener.
**/
interface PlatformUnitListener
{
/**
- * reportPlatformPose reports current platform pose.
- * @param currentPose Current global platform pose.
- **/
- ["deprecate:reportPlatformPose() has been deprecated, use GlobalRobotPoseLocalizationListener::reportGlobalRobotPose() instead."]
- void reportPlatformPose(PlatformPose currentPose);
-
- /**
- * reportNewTargetPose reports target platform pose.
- * @param newPlatformPositionX Global x-coordinate of target platform position.
- * @param newPlatformPositionY Global y-coordinate of target platform position.
- * @param newPlatformRotation Target global orientation of platform.
- **/
- ["deprecate:reportNewTargetPose() has been deprecated, use ... instead."]
- void reportNewTargetPose(float newPlatformPositionX, float newPlatformPositionY, float newPlatformRotation);
- /**
- * reportPlatformVelocity reports current platform velocities.
- * @param currentPlatformVelocityX x-coordinate of current velocity defined in platform root.
- * @param currentPlatformVelocityY y-coordinate of current velocity defined in platform root.
- * @param currentPlatformVelocityRotation Current orientational velocity defined in platform root.
- **/
- // ["deprecate:reportPlatformVelocity() has been deprecated, use OdometryListener::reportOdometryVelocity() instead."]
- void reportPlatformVelocity(float currentPlatformVelocityX, float currentPlatformVelocityY, float currentPlatformVelocityRotation);
+ * reportPlatformVelocity reports current platform velocities.
+ * @param currentPlatformVelocityX x-coordinate of current velocity defined in platform root.
+ * @param currentPlatformVelocityY y-coordinate of current velocity defined in platform root.
+ * @param currentPlatformVelocityRotation Current orientational velocity defined in platform root.
+ **/
+ // ["deprecate:reportPlatformVelocity() has been deprecated, use OdometryListener::reportOdometryVelocity() instead."]
+ void reportPlatformVelocity(float currentPlatformVelocityX,
+ float currentPlatformVelocityY,
+ float currentPlatformVelocityRotation);
- ["deprecate:reportPlatformOdometryPose() has been deprecated, use OdometryListener::reportOdometryPose() instead."]
- void reportPlatformOdometryPose(float x, float y, float angle);
+ ["deprecate:reportPlatformOdometryPose() has been deprecated, use "
+ "OdometryListener::reportOdometryPose() instead."] void
+ reportPlatformOdometryPose(float x, float y, float angle);
};
interface PlatformSubUnitInterface extends PlatformUnitInterface
{
-
};
-
};
diff --git a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
index ec6658fa85afba280fef0613fbc60596da57ee8a..3e503f9a7f04ff1fdcdb4bb1988ee04f0b18666d 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/ArmarXObjects/CMakeLists.txt
@@ -3,6 +3,9 @@ set(LIB_NAME ${PROJECT_NAME}ArmarXObjects)
armarx_component_set_name("${LIB_NAME}")
armarx_set_target("Library: ${LIB_NAME}")
+armarx_build_if(Eigen3_FOUND "Eigen3 not available")
+armarx_build_if(manif_FOUND "manif not available")
+
set(LIBS
# ArmarXGui
RemoteGui
@@ -10,6 +13,9 @@ set(LIBS
RobotAPI::Core
RobotAPIInterfaces
aroncommon
+
+ Eigen3::Eigen
+ ${manif_LIBRARIES}
)
set(LIB_FILES
@@ -64,6 +70,10 @@ set(LIB_HEADERS
armarx_add_library("${LIB_NAME}" "${LIB_FILES}" "${LIB_HEADERS}" "${LIBS}")
+if(manif_FOUND)
+ target_include_directories("${LIB_NAME}" SYSTEM PUBLIC ${manif_INCLUDE_DIR} ${manif_INCLUDE_DIRS})
+endif()
+
add_library(${PROJECT_NAME}::ArmarXObjects ALIAS ${PROJECT_NAME}ArmarXObjects)
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
index ea3a7e9cb08f423716931086f309e6dabeedd1b9..708608528cd8d506d80f229a6c9c96896d18207a 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectFinder.h
@@ -18,8 +18,7 @@ namespace armarx
/**
* @brief Used to find objects in the ArmarX objects repository [1] (formerly [2]).
*
- * @see [1] https://gitlab.com/ArmarX/PriorKnowledgeData
- * @see [2] https://gitlab.com/ArmarX/ArmarXObjects
+ * @see [1] https://git.h2t.iar.kit.edu/sw/armarx/prior-knowledge-data
*/
class ObjectFinder : Logging
{
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
index 74f3233ee04475ba4cd8cca04cdc8b35ede5ba18..82dc134ee4b958981cf1ebe5d74047f49eb62a2a 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.cpp
@@ -12,6 +12,7 @@
#include <RobotAPI/libraries/core/Pose.h>
#include <RobotAPI/libraries/core/FramedPose.h>
#include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
+#include <RobotAPI/libraries/ArmarXObjects/ProvidedObjectPose.h>
#include "ice_conversions.h"
@@ -171,6 +172,31 @@ namespace armarx::objpose
objpose::fromIce(provided.localOOBB, localOOBB);
}
+ // ToDo: We can provide ...Robot() and ...Original() versions as well.
+ objpose::ProvidedObjectPose ObjectPose::toProvidedObjectPoseGlobal() const
+ {
+ objpose::ProvidedObjectPose providedObjectPose;
+
+ providedObjectPose.objectID = this->objectID;
+ providedObjectPose.providerName = this->providerName;
+ providedObjectPose.objectType = this->objectType;
+
+ providedObjectPose.isStatic = this->isStatic;
+
+ providedObjectPose.objectPoseFrame = GlobalFrame;
+ providedObjectPose.objectPose = this->objectPoseGlobal;
+ providedObjectPose.objectPoseGaussian = this->objectPoseGlobalGaussian;
+
+ providedObjectPose.objectJointValues = this->objectJointValues;
+
+ providedObjectPose.confidence = this->confidence;
+ providedObjectPose.timestamp = this->timestamp;
+
+ providedObjectPose.localOOBB = this->localOOBB;
+
+ return providedObjectPose;
+ }
+
void ObjectPose::setObjectPoseRobot(
const Eigen::Matrix4f& objectPoseRobot, bool updateObjectPoseGlobal)
{
diff --git a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
index 106f52a842e1c3a5790068a30a96182326c24629..6ee27fa6e039a862217d48601ad8d2d02881a615 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
+++ b/source/RobotAPI/libraries/ArmarXObjects/ObjectPose.h
@@ -46,6 +46,7 @@ namespace armarx::objpose
void toIce(data::ObjectPose& ice) const;
void fromProvidedPose(const data::ProvidedObjectPose& provided, VirtualRobot::RobotPtr robot = nullptr);
+ objpose::ProvidedObjectPose toProvidedObjectPoseGlobal() const;
void setObjectPoseRobot(const Eigen::Matrix4f& objectPoseRobot, bool updateObjectPoseGlobal = true);
void setObjectPoseGlobal(const Eigen::Matrix4f& objectPoseGlobal, bool updateObjectPoseRobot = true);
diff --git a/source/RobotAPI/libraries/ArmarXObjects/predictions.cpp b/source/RobotAPI/libraries/ArmarXObjects/predictions.cpp
index fc9dfe5081f69215398cd5c6eefaf7c8c1fbd705..e74da09bfa4a0c26adf4f1579ead89947f282fba 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/predictions.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/predictions.cpp
@@ -22,6 +22,8 @@
#include "predictions.h"
+#include <manif/SE3.h>
+
#include <SimoxUtility/math/pose/pose.h>
#include <SimoxUtility/math/regression/linear.h>
@@ -41,44 +43,45 @@ namespace armarx::objpose
const DateTime timeOrigin = DateTime::Now();
+ static const int tangentDims = 6;
+ using Vector6d = Eigen::Matrix<double, tangentDims, 1>;
+
std::vector<double> timestampsSec;
- std::vector<Eigen::Vector3d> positions;
+ std::vector<Vector6d> tangentPoses;
// ToDo: How to handle attached objects?
for (const auto& [timestamp, pose] : poses)
{
timestampsSec.push_back((timestamp - timeOrigin).toSecondsDouble());
- positions.emplace_back(simox::math::position(pose.objectPoseGlobal).cast<double>());
+ manif::SE3f se3(simox::math::position(pose.objectPoseGlobal),
+ Eigen::Quaternionf(simox::math::orientation(pose.objectPoseGlobal)));
+ tangentPoses.emplace_back(se3.cast<double>().log().coeffs());
}
- ARMARX_CHECK_EQUAL(timestampsSec.size(), positions.size());
+ ARMARX_CHECK_EQUAL(timestampsSec.size(), tangentPoses.size());
- Eigen::Vector3d prediction;
+ Eigen::Matrix4f prediction;
// Static objects don't move. Objects that haven't moved for a while probably won't either.
if (timestampsSec.size() <= 1 || latestPose.isStatic)
{
- prediction = simox::math::position(latestPose.objectPoseGlobal).cast<double>();
+ prediction = latestPose.objectPoseGlobal;
}
else
{
- using simox::math::LinearRegression3d;
+ using simox::math::LinearRegression;
const bool inputOffset = false;
- const LinearRegression3d model =
- LinearRegression3d::Fit(timestampsSec, positions, inputOffset);
+ const LinearRegression<tangentDims> model =
+ LinearRegression<tangentDims>::Fit(timestampsSec, tangentPoses, inputOffset);
const auto predictionTime = armarx::fromIce<DateTime>(time);
- prediction = model.predict((predictionTime - timeOrigin).toSecondsDouble());
+ Vector6d linearPred = model.predict((predictionTime - timeOrigin).toSecondsDouble());
+ prediction = manif::SE3Tangentd(linearPred).exp().transform().cast<float>();
}
// Used as a template for the returned pose prediction.
ObjectPose latestCopy = latestPose;
- // Reuse the rotation from the latest pose.
- // This is a pretty generous assumption, but the linear model doesn't cover rotations,
- // so it's our best guess.
- Eigen::Matrix4f latest = latestPose.objectPoseGlobal;
- simox::math::position(latest) = prediction.cast<float>();
- latestCopy.setObjectPoseGlobal(latest);
+ latestCopy.setObjectPoseGlobal(prediction);
result.success = true;
result.prediction = latestCopy.toIce();
diff --git a/source/RobotAPI/libraries/CMakeLists.txt b/source/RobotAPI/libraries/CMakeLists.txt
index ac58ce8b0a9aaa2d53695ba6d21abfa06fc192b4..186941026aeb48777acad71d3a3ef969b858dc98 100644
--- a/source/RobotAPI/libraries/CMakeLists.txt
+++ b/source/RobotAPI/libraries/CMakeLists.txt
@@ -16,6 +16,7 @@ add_subdirectory(natik)
add_subdirectory(ukfm)
add_subdirectory(aron)
+add_subdirectory(aron_component_config)
add_subdirectory(armem)
add_subdirectory(armem_grasping)
diff --git a/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp b/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp
index 628824cb3bfdbd750939721c1cba92f21967dc68..b01b2c6e976d2f3d2f3e882668236cea36943c69 100644
--- a/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.cpp
@@ -302,8 +302,8 @@ namespace armarx
namespace armarx
{
- box_to_grasp_candidates::box_to_grasp_candidates(const armarx::RobotNameHelper& rnh, const VirtualRobot::RobotPtr& robot)
- : _rnh{std::make_shared<armarx::RobotNameHelper>(rnh)}, _robot{robot}
+ box_to_grasp_candidates::box_to_grasp_candidates(armarx::RobotNameHelperPtr rnh, const VirtualRobot::RobotPtr& robot)
+ : _rnh{std::move(rnh)}, _robot{robot}
{
ARMARX_CHECK_NOT_NULL(_robot);
}
diff --git a/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.h b/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.h
index 737df4d2cbfc3a485c98619685e42c360ba5968f..dfd7e1030ba71ebd68b18cba6aa476c0bab51ebc 100644
--- a/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.h
+++ b/source/RobotAPI/libraries/GraspingUtility/box_to_grasp_candidates.h
@@ -102,7 +102,7 @@ namespace armarx
) const;
};
public:
- box_to_grasp_candidates(const armarx::RobotNameHelper& rnh,
+ box_to_grasp_candidates(armarx::RobotNameHelperPtr rnh,
const VirtualRobot::RobotPtr& robot);
void add_armar6_defaults();
diff --git a/source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.cpp b/source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.cpp
index b8a69f3c0e7b5850c7ed8d5faffd2fb8df6dfd0b..9888dccad9687c74234e5a0e6ee2b59a4511e141 100644
--- a/source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.cpp
+++ b/source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.cpp
@@ -2,14 +2,16 @@
#include <ArmarXCore/util/CPPUtility/trace.h>
+#include <utility>
+
#include "grasp_candidate_drawer.h"
namespace armarx
{
grasp_candidate_drawer::grasp_candidate_drawer(
- const armarx::RobotNameHelper& rnh,
+ armarx::RobotNameHelperPtr rnh,
const VirtualRobot::RobotPtr& robot)
- : rnh{std::make_shared<armarx::RobotNameHelper>(rnh)}, robot{robot}
+ : rnh(std::move(rnh)), robot{robot}
{}
void grasp_candidate_drawer::reset_colors()
diff --git a/source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.h b/source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.h
index 3a241476976d0c1f1072645906bf08f0f3c7cb91..1673d86a0957db9ffdb4216241a97ee85618608c 100644
--- a/source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.h
+++ b/source/RobotAPI/libraries/GraspingUtility/grasp_candidate_drawer.h
@@ -22,7 +22,7 @@ namespace armarx
Eigen::Matrix4f tcp_2_hroot;
};
public:
- grasp_candidate_drawer(const armarx::RobotNameHelper& rnh,
+ grasp_candidate_drawer(armarx::RobotNameHelperPtr rnh,
const VirtualRobot::RobotPtr& robot);
void reset_colors();
public:
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp
index b9ad4f67a8e71d645fc5c868912a0ea9e271c1c9..8072390200cb2696c0a51bde1f7ca6807a76659d 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.cpp
@@ -30,10 +30,10 @@
namespace armarx::plugins
{
- const RobotNameHelper& RobotStateComponentPlugin::getRobotNameHelper() const
+ RobotNameHelperPtr RobotStateComponentPlugin::getRobotNameHelper() const
{
ARMARX_CHECK_NOT_NULL(_nameHelper);
- return *_nameHelper;
+ return _nameHelper;
}
void RobotStateComponentPlugin::setRobotStateComponent(const RobotStateComponentInterfacePrx& rsc)
{
@@ -318,7 +318,7 @@ namespace armarx
{
return getRobotStateComponentPlugin().getRobotStateComponent();
}
- const RobotNameHelper& RobotStateComponentPluginUser::getRobotNameHelper() const
+ RobotNameHelperPtr RobotStateComponentPluginUser::getRobotNameHelper() const
{
return getRobotStateComponentPlugin().getRobotNameHelper();
}
diff --git a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h
index d3a1ba42bd9a21279268f24780572957b1d80aa4..af85178be6aaa8e98da1e19e8c76dc0019bc237f 100644
--- a/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h
+++ b/source/RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h
@@ -93,7 +93,7 @@ namespace armarx::plugins
//querry
public:
const RobotStateComponentInterfacePrx& getRobotStateComponent() const;
- const RobotNameHelper& getRobotNameHelper() const;
+ RobotNameHelperPtr getRobotNameHelper() const;
Eigen::Matrix4f transformFromTo(const std::string& from,
const std::string& to,
const VirtualRobot::RobotPtr& rob);
@@ -178,7 +178,7 @@ namespace armarx
const RobotStateComponentInterfacePrx& getRobotStateComponent() const;
- const RobotNameHelper& getRobotNameHelper() const;
+ RobotNameHelperPtr getRobotNameHelper() const;
//get / add
public:
bool hasRobot(const std::string& id) const;
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index c17efd18644d5b515170b714d263f4b37a194f25..5d6ed01da11647da7bd64177aabb439d276efa96 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -164,6 +164,7 @@ set(LIB_HEADERS
mns/plugins/Plugin.h
mns/plugins/PluginUser.h
+ util/prediction_helpers.h
util/util.h
)
diff --git a/source/RobotAPI/libraries/armem/client/Reader.cpp b/source/RobotAPI/libraries/armem/client/Reader.cpp
index deab5d748d4606afd2bd6670585193ac0c011822..f3991bc59641ac81b1efe74f781edeebb6f6f8fd 100644
--- a/source/RobotAPI/libraries/armem/client/Reader.cpp
+++ b/source/RobotAPI/libraries/armem/client/Reader.cpp
@@ -429,6 +429,7 @@ namespace armarx::armem::client
{
server::dto::StartRecordInput i;
i.executionTime = armarx::core::time::dto::DateTime();
+ i.startTime = armarx::core::time::dto::DateTime();
i.recordingID = "";
i.configuration.clear();
diff --git a/source/RobotAPI/libraries/armem/core/Prediction.h b/source/RobotAPI/libraries/armem/core/Prediction.h
index a8ec9ee52436b5b5d96c5c8013d058f8d6abc6e5..259ea375e546c64bfee9993939312fb3476ae60a 100644
--- a/source/RobotAPI/libraries/armem/core/Prediction.h
+++ b/source/RobotAPI/libraries/armem/core/Prediction.h
@@ -26,6 +26,7 @@
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+
namespace armarx::armem
{
@@ -66,6 +67,7 @@ namespace armarx::armem
armem::prediction::data::PredictionResult toIce() const;
};
+
void toIce(armem::prediction::data::PredictionEngine& ice,
const PredictionEngine& engine);
void fromIce(const armem::prediction::data::PredictionEngine& ice,
diff --git a/source/RobotAPI/libraries/armem/core/container_maps.h b/source/RobotAPI/libraries/armem/core/container_maps.h
index 625c92bb02548c66b96c18e349bbe23acc0385ef..6b836da0b833ea76ce24a1920e0247255e9b6e61 100644
--- a/source/RobotAPI/libraries/armem/core/container_maps.h
+++ b/source/RobotAPI/libraries/armem/core/container_maps.h
@@ -32,14 +32,6 @@ namespace armarx::armem
namespace detail
{
- template <class KeyT, class ValueT>
- struct MapRef
- {
- KeyT* key;
- ValueT* value;
- };
-
-
/**
* @brief Get the entry in the map for which the returned key is the longest prefix
@@ -81,6 +73,50 @@ namespace armarx::armem
return result;
}
+ /**
+ * @brief Get the entry in the map for which the returned key is the longest prefix
+ * of the given key among the keys in the map that satisfy the predicate.
+ *
+ * `prefixFunc` is used to successively calculate the prefixes of the given key.
+ * It must be pure and return an empty optional when there is no shorter
+ * prefix of the given key (for strings, this would be the case when passed the empty string).
+ * `predicate` is used to filter for entries that satisfy the desired condition.
+ * It must be pure.
+ *
+ * @param keyValMap the map that contains the key-value-pairs to search
+ * @param prefixFunc the function that returns the longest non-identical prefix of the key
+ * @param predicate the predicate to filter entries on
+ * @param key the key to calculate the prefixes of
+ *
+ * @return The iterator pointing to the found entry, or `keyValMap.end()`.
+ */
+ template <typename KeyT, typename ValueT>
+ typename std::map<KeyT, ValueT>::const_iterator
+ findEntryWithLongestPrefixAnd(
+ const std::map<KeyT, ValueT>& keyValMap,
+ const std::function<std::optional<KeyT>(KeyT&)>& prefixFunc,
+ const KeyT& key,
+ const std::function<bool(const KeyT&, const ValueT&)>& predicate)
+ {
+ std::optional<KeyT> curKey = key;
+
+ typename std::map<KeyT, ValueT>::const_iterator result = keyValMap.end();
+ do
+ {
+ auto iterator = keyValMap.find(curKey.value());
+ if (iterator != keyValMap.end() and predicate(iterator->first, iterator->second))
+ {
+ result = iterator;
+ }
+ else
+ {
+ curKey = prefixFunc(curKey.value());
+ }
+ }
+ while (result == keyValMap.end() and curKey.has_value());
+
+ return result;
+ }
/**
* @brief Accumulate all the values in a map for which the keys are prefixes of the given key.
@@ -202,6 +238,23 @@ namespace armarx::armem
}
+ /**
+ * @brief Find the entry with the most specific key that contains the given ID
+ * and satisfies the predicate, or `idMap.end()` if no key contains the ID and satisfies
+ * the predicate.
+ *
+ * @see `detail::findEntryWithLongestPrefixAnd()`
+ */
+ template <typename ValueT>
+ typename std::map<MemoryID, ValueT>::const_iterator
+ findMostSpecificEntryContainingIDAnd(const std::map<MemoryID, ValueT>& idMap, const MemoryID& id,
+ const std::function<bool(const MemoryID&, const ValueT&)>& predicate)
+ {
+ return detail::findEntryWithLongestPrefixAnd<MemoryID, ValueT>(
+ idMap, &getMemoryIDParent, id, predicate);
+ }
+
+
/**
* @brief Return all values of keys containing the given ID.
*
diff --git a/source/RobotAPI/libraries/armem/core/operations.h b/source/RobotAPI/libraries/armem/core/operations.h
index f1300da6a0d20f6685bc358494d9997c7e4bdb17..6f7ae4d48ffe65665affe83a9356858c57e29044 100644
--- a/source/RobotAPI/libraries/armem/core/operations.h
+++ b/source/RobotAPI/libraries/armem/core/operations.h
@@ -50,6 +50,20 @@ namespace armarx::armem
}
+ template <class ContainerT>
+ std::vector<MemoryID> getEntityIDs(const ContainerT& container)
+ {
+ std::vector<armem::MemoryID> entityIDs;
+
+ container.forEachEntity([&entityIDs](const auto& entity)
+ {
+ entityIDs.push_back(entity.id());
+ });
+
+ return entityIDs;
+ }
+
+
std::string print(const wm::Memory& data, int maxDepth = -1, int depth = 0);
std::string print(const wm::CoreSegment& data, int maxDepth = -1, int depth = 0);
std::string print(const wm::ProviderSegment& data, int maxDepth = -1, int depth = 0);
diff --git a/source/RobotAPI/libraries/armem/server/CMakeLists.txt b/source/RobotAPI/libraries/armem/server/CMakeLists.txt
index 6d44b25f7e2a416df134df83a0efd170c5a99333..f2967422eaf548e5f040bd5b1685f7555e42bdb5 100644
--- a/source/RobotAPI/libraries/armem/server/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/server/CMakeLists.txt
@@ -176,6 +176,7 @@ set(LIB_HEADERS
wm/memory_definitions.h
wm/ice_conversions.h
wm/detail/MaxHistorySize.h
+ wm/detail/Prediction.h
plugins.h
plugins/Plugin.h
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
index 8f37824ff7ff96a8280813247bb17290ae48582b..63b9bba20d1575cc3377109b856d57a09bc4aae8 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.cpp
@@ -428,13 +428,23 @@ namespace armarx::armem::server
}
// PREDICTION
+ prediction::data::PredictionResultSeq
+ MemoryToIceAdapter::predict(prediction::data::PredictionRequestSeq requests)
+ {
+ auto res = workingMemory->dispatchPredictions(
+ armarx::fromIce<std::vector<PredictionRequest>>(requests));
+ return armarx::toIce<prediction::data::PredictionResultSeq>(res);
+ }
+
prediction::data::EngineSupportMap MemoryToIceAdapter::getAvailableEngines()
{
prediction::data::EngineSupportMap result;
armarx::toIce(result, workingMemory->getAllPredictionEngines());
- prediction::data::EngineSupportMap ltmMap;
- armarx::toIce(ltmMap, workingMemory->getAllPredictionEngines());
+ // Uncomment once LTM also supports prediction engines.
+
+ /*prediction::data::EngineSupportMap ltmMap;
+ armarx::toIce(ltmMap, longtermMemory->getAllPredictionEngines());
for (const auto& [memoryID, engines] : ltmMap)
{
auto entryIter = result.find(memoryID);
@@ -450,7 +460,7 @@ namespace armarx::armem::server
engineSet.insert(engines.begin(), engines.end());
entryIter->second.assign(engineSet.begin(), engineSet.end());
}
- }
+ }*/
return result;
}
diff --git a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
index 6f19796395d85a1ff043e46c2172cba0940e5808..41b0312e6518ebcf78471f42efe23d5bf0eb9634 100644
--- a/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
+++ b/source/RobotAPI/libraries/armem/server/MemoryToIceAdapter.h
@@ -57,6 +57,9 @@ namespace armarx::armem::server
dto::RecordStatusResult getRecordStatus();
// PREDICTION
+ prediction::data::PredictionResultSeq
+ predict(prediction::data::PredictionRequestSeq requests);
+
prediction::data::EngineSupportMap getAvailableEngines();
public:
diff --git a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
index 4d24c2e6bd15c0696bbbefd757db1fc4a895dbde..72ed4653638d77adf1c1dc760354c8dcf12d43d3 100644
--- a/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
+++ b/source/RobotAPI/libraries/armem/server/ltm/disk/EntitySnapshot.cpp
@@ -19,7 +19,7 @@ namespace armarx::armem::server::ltm::disk
/ EscapeSegmentName(id.providerSegmentName)
/ EscapeSegmentName(id.entityName)
/ std::to_string(id.timestamp.toSecondsSinceEpoch() / 3600 /* hours */)
- / std::to_string(id.timestamp.toSecondsSinceEpoch()) / id.timestampStr()),
+ / std::to_string(id.timestamp.toSecondsSinceEpoch()) /* seconds */ / id.timestampStr()),
currentMode(mode),
currentExport(e)
{
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
index 8d0b986443914d60c976da57ae6736c775bc1f54..299e8242ee540df8c5397d86a03a7cae2d1a0eb8 100644
--- a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -146,16 +146,7 @@ namespace armarx::armem::server::plugins
armem::prediction::data::PredictionResultSeq
ReadWritePluginUser::predict(const armem::prediction::data::PredictionRequestSeq& requests)
{
- armem::prediction::data::PredictionResultSeq result;
- for (auto request : requests)
- {
- armem::PredictionResult singleResult;
- singleResult.success = false;
- singleResult.errorMessage = "This memory does not implement predictions.";
- singleResult.prediction = nullptr;
- result.push_back(singleResult.toIce());
- }
- return result;
+ return iceAdapter().predict(requests);
}
armem::prediction::data::EngineSupportMap
diff --git a/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.cpp b/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.cpp
index d90756691871b6ad444a67fa76a733d0086b5b29..2e94c2cdb47a1fb883a6e790240be4c76a21b5e6 100644
--- a/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.cpp
+++ b/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.cpp
@@ -1,7 +1,7 @@
#include "MaxHistorySize.h"
-namespace armarx::armem::server::detail
+namespace armarx::armem::server::wm::detail
{
void MaxHistorySize::setMaxHistorySize(long maxSize)
{
diff --git a/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.h b/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.h
index 962179a68aeb601dc261eb6d496389295597a2ea..64eb07a63d4d8087378856623ea47c2edcee3b2f 100644
--- a/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.h
+++ b/source/RobotAPI/libraries/armem/server/wm/detail/MaxHistorySize.h
@@ -1,6 +1,6 @@
#pragma once
-namespace armarx::armem::server::detail
+namespace armarx::armem::server::wm::detail
{
// TODO: Replace by ConstrainedHistorySize (not only max entries, e.g. delete oldest / delete least accessed / ...)
diff --git a/source/RobotAPI/libraries/armem/server/wm/detail/Prediction.h b/source/RobotAPI/libraries/armem/server/wm/detail/Prediction.h
new file mode 100644
index 0000000000000000000000000000000000000000..3b2eccc022514313ceb0aaea7154e5c77258ea79
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/wm/detail/Prediction.h
@@ -0,0 +1,295 @@
+/*
+ * 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 flied 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::armem::core::base::detail
+ * @author phesch ( phesch at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <functional>
+
+#include <SimoxUtility/algorithm/get_map_keys_values.h>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/core/Prediction.h>
+#include <RobotAPI/libraries/armem/core/base/detail/derived.h>
+#include <RobotAPI/libraries/armem/core/base/detail/lookup_mixins.h>
+#include <RobotAPI/libraries/armem/core/base/detail/Predictive.h>
+#include <RobotAPI/libraries/armem/core/container_maps.h>
+
+
+namespace armarx::armem::server::wm::detail
+{
+
+ using Predictor = std::function<PredictionResult(const PredictionRequest&)>;
+
+ /**
+ * Can do predictions, but has no children it could delegate predictions to.
+ *
+ * This class is integrated with `armem::base::detail::Predictive`:
+ * If `DerivedT` is also a `Predictive`, the setters of this class also update the
+ * `Predictive` part.
+ */
+ template <class DerivedT>
+ class Prediction
+ {
+ using Predictive = armem::base::detail::Predictive<DerivedT>;
+
+ Predictive* _asPredictive()
+ {
+ return dynamic_cast<Predictive*>(&base::detail::derived<DerivedT>(this));
+ }
+
+ public:
+ explicit Prediction(const std::map<PredictionEngine, Predictor>& predictors = {})
+ {
+ this->setPredictors(predictors);
+ }
+
+ void
+ addPredictor(const PredictionEngine& engine, Predictor&& predictor)
+ {
+ _predictors.emplace(engine.engineID, predictor);
+
+ if (Predictive* predictive = this->_asPredictive())
+ {
+ predictive->addPredictionEngine(engine);
+ }
+ }
+
+ void
+ setPredictors(const std::map<PredictionEngine, Predictor>& predictors)
+ {
+ this->_predictors.clear();
+ for (const auto& [engine, predictor] : predictors)
+ {
+ _predictors.emplace(engine.engineID, predictor);
+ }
+
+ if (Predictive* predictive = this->_asPredictive())
+ {
+ predictive->setPredictionEngines(simox::alg::get_keys(predictors));
+ }
+ }
+
+ /**
+ * Resolves mapping of requests to predictors and dispatches them.
+ *
+ * In this case, the resolution is basically no-op because there are no children.
+ */
+ std::vector<PredictionResult>
+ dispatchPredictions(const std::vector<PredictionRequest>& requests)
+ {
+ const MemoryID ownID = base::detail::derived<DerivedT>(this).id();
+ std::vector<PredictionResult> results;
+ for (const auto& request : requests)
+ {
+ results.push_back(dispatchTargetedPrediction(request, ownID));
+ }
+ return results;
+ }
+
+ /**
+ * Dispatches a single prediction request (assuming resolution was done by the caller).
+ */
+ PredictionResult
+ dispatchTargetedPrediction(const PredictionRequest& request, const MemoryID& target)
+ {
+ PredictionResult result;
+ result.snapshotID = request.snapshotID;
+
+ MemoryID ownID = base::detail::derived<DerivedT>(this).id();
+ if (ownID == target)
+ {
+ auto it = _predictors.find(request.predictionSettings.predictionEngineID);
+ if (it != _predictors.end())
+ {
+ const Predictor& predictor = it->second;
+ result = predictor(request);
+ }
+ else
+ {
+ result.success = false;
+ std::stringstream sstream;
+ sstream << "Could not dispatch prediction request for " << request.snapshotID
+ << " with engine '" << request.predictionSettings.predictionEngineID
+ << "' in " << ownID << ": Engine not registered.";
+ result.errorMessage = sstream.str();
+ }
+ }
+ else
+ {
+ result.success = false;
+ std::stringstream sstream;
+ sstream << "Could not dispatch prediction request for " << request.snapshotID
+ << " to " << target << " from " << ownID;
+ result.errorMessage = sstream.str();
+ }
+ return result;
+ }
+
+ private:
+ std::map<std::string, Predictor> _predictors; // NOLINT
+ };
+
+
+ /**
+ * Can do predictions itself and has children it could delegate predictions to.
+ */
+ template <class DerivedT>
+ class PredictionContainer : public Prediction<DerivedT>
+ {
+ public:
+ using Prediction<DerivedT>::Prediction;
+
+ explicit PredictionContainer(const std::map<PredictionEngine, Predictor>& predictors = {})
+ : Prediction<DerivedT>(predictors)
+ {
+ }
+
+ std::vector<PredictionResult>
+ dispatchPredictions(const std::vector<PredictionRequest>& requests)
+ {
+ const auto& derivedThis = base::detail::derived<DerivedT>(this);
+ const std::map<MemoryID, std::vector<PredictionEngine>> engines =
+ derivedThis.getAllPredictionEngines();
+
+ std::vector<PredictionResult> results;
+ for (const PredictionRequest& request : requests)
+ {
+ PredictionResult& result = results.emplace_back();
+ result.snapshotID = request.snapshotID;
+
+ auto iter =
+ armem::findMostSpecificEntryContainingIDAnd<std::vector<PredictionEngine>>(
+ engines, request.snapshotID,
+ [&request](const MemoryID& /*unused*/,
+ const std::vector<PredictionEngine>& supported) -> bool
+ {
+ for (const PredictionEngine& engine : supported)
+ {
+ if (engine.engineID == request.predictionSettings.predictionEngineID)
+ {
+ return true;
+ }
+ }
+ return false;
+ });
+
+ if (iter != engines.end())
+ {
+ const MemoryID& responsibleID = iter->first;
+
+ result = dispatchTargetedPrediction(request, responsibleID);
+ }
+ else
+ {
+ result.success = false;
+ std::stringstream sstream;
+ sstream << "Could not find segment offering prediction engine '"
+ << request.predictionSettings.predictionEngineID << "' for memory ID "
+ << request.snapshotID << ".";
+ result.errorMessage = sstream.str();
+ }
+ }
+ return results;
+ }
+
+
+ /**
+ * Semantics: This container or one of its children (target) is responsible
+ * for performing the prediction.
+ */
+ PredictionResult
+ dispatchTargetedPrediction(const PredictionRequest& request, const MemoryID& target)
+ {
+ PredictionResult result;
+ result.snapshotID = request.snapshotID;
+
+ const auto& derivedThis = base::detail::derived<DerivedT>(this);
+ MemoryID ownID = derivedThis.id();
+ if (ownID == target)
+ {
+ // Delegate to base class.
+ result = Prediction<DerivedT>::dispatchTargetedPrediction(request, target);
+ }
+ // Check if of this' children is really responsible for the request.
+ else if (contains(ownID, target))
+ {
+ std::string childName = _getChildName(ownID, target);
+
+ // TODO(phesch): Looping over all the children just to find the one
+ // with the right name isn't nice, but it's the interface we've got.
+ // TODO(RainerKartmann): Try to add findChild() to loopup mixins.
+ typename DerivedT::ChildT* child = nullptr;
+ derivedThis.forEachChild(
+ [&child, &childName](auto& otherChild)
+ {
+ if (otherChild.name() == childName)
+ {
+ child = &otherChild;
+ }
+ });
+ if (child)
+ {
+ result = child->dispatchTargetedPrediction(request, target);
+ }
+ else
+ {
+ result.success = false;
+ std::stringstream sstream;
+ sstream << "Could not find memory item with ID " << target << ".";
+ result.errorMessage = sstream.str();
+ }
+ }
+ else
+ {
+ result.success = false;
+ std::stringstream sstream;
+ sstream << "Could not dispatch prediction request for " << request.snapshotID
+ << " to " << target << " from " << ownID << ".";
+ result.errorMessage = sstream.str();
+ }
+ return result;
+ }
+
+ private:
+
+ std::string _getChildName(const MemoryID& parent, const MemoryID& child)
+ {
+ ARMARX_CHECK(armem::contains(parent, child));
+ ARMARX_CHECK(parent != child);
+
+ size_t parentLength = parent.getItems().size();
+
+ // Get iterator to first entry of child ID (memory).
+ std::vector<std::string> childItems = child.getItems();
+
+ int index = parentLength;
+ ARMARX_CHECK_FITS_SIZE(index, childItems.size());
+
+ return childItems[index];
+ }
+
+
+ };
+
+} // namespace armarx::armem::server::wm::detail
diff --git a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
index 35da4691d69dcb4a0290d84f19098608b7d3aab6..973e3ca5c21f1913f5abb84718789b4d4d27b2d2 100644
--- a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
+++ b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.cpp
@@ -3,6 +3,8 @@
#include "error.h"
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/libraries/armem/core/container_maps.h>
+
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <map>
@@ -107,5 +109,4 @@ namespace armarx::armem::server::wm
result.memoryUpdateType = UpdateType::UpdatedExisting;
return result;
}
-
}
diff --git a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
index e6889b7f8e0a6b40f16d28ad2bcc05f68250b1a5..35015353a2653ca957bb19fe29c7e8430790885d 100644
--- a/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
+++ b/source/RobotAPI/libraries/armem/server/wm/memory_definitions.h
@@ -1,6 +1,7 @@
#pragma once
#include "detail/MaxHistorySize.h"
+#include "detail/Prediction.h"
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/core/base/EntityInstanceBase.h>
@@ -60,6 +61,7 @@ namespace armarx::armem::server::wm
public base::ProviderSegmentBase<Entity, ProviderSegment>
, public detail::MaxHistorySizeParent<ProviderSegment>
, public armem::wm::detail::FindInstanceDataMixin<ProviderSegment>
+ , public armem::server::wm::detail::Prediction<ProviderSegment>
{
public:
@@ -82,9 +84,10 @@ namespace armarx::armem::server::wm
/// @brief base::CoreSegmentBase
class CoreSegment :
- public base::CoreSegmentBase<ProviderSegment, CoreSegment>,
- public detail::MaxHistorySizeParent<CoreSegment>
+ public base::CoreSegmentBase<ProviderSegment, CoreSegment>
+ , public detail::MaxHistorySizeParent<CoreSegment>
, public armem::wm::detail::FindInstanceDataMixin<CoreSegment>
+ , public armem::server::wm::detail::PredictionContainer<CoreSegment>
{
using Base = base::CoreSegmentBase<ProviderSegment, CoreSegment>;
@@ -125,6 +128,7 @@ namespace armarx::armem::server::wm
class Memory :
public base::MemoryBase<CoreSegment, Memory>
, public armem::wm::detail::FindInstanceDataMixin<Memory>
+ , public armem::server::wm::detail::PredictionContainer<Memory>
{
using Base = base::MemoryBase<CoreSegment, Memory>;
diff --git a/source/RobotAPI/libraries/armem/util/prediction_helpers.h b/source/RobotAPI/libraries/armem/util/prediction_helpers.h
new file mode 100644
index 0000000000000000000000000000000000000000..1734dca8f20e488e789e0c39af380b24376a5e9f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/util/prediction_helpers.h
@@ -0,0 +1,135 @@
+/*
+ * 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/>.
+ *
+ * @author phesch ( ulila at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <functional>
+#include <vector>
+
+#include <ArmarXCore/core/time.h>
+
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+
+namespace armarx::armem
+{
+ /**
+ * Holds info on snapshot data extracted from a time range.
+ * Used for performing predictions.
+ */
+ template <typename DataType, typename LatestType>
+ struct SnapshotRangeInfo
+ {
+ bool success = false;
+ std::string errorMessage = "";
+
+ std::vector<double> timestampsSec = {};
+ std::vector<DataType> values = {};
+ LatestType latestValue;
+ };
+
+ /*!
+ * @brief Get data points for the snapshots of an entity in a given time range.
+ *
+ * The resulting `SnapshotRangeInfo` is useful for performing predictions.
+ * Data from the individual snapshots is given to the conversion functions
+ * before being stored in the result.
+ * Timestamps in the `timestampsSec` vector are relative to the endTime parameter
+ * to this function.
+ * Data from a snapshot is always retrieved from the instance with index 0.
+ * If some data cannot be retrieved, `success` is set to `false`
+ * and the `errorMessage` in the return value is set accordingly.
+ *
+ * @param segment the segment to get the snapshot data from
+ * @param entityID the entity to get the data for
+ * @param startTime the beginning of the time range
+ * @param endTime the end of the time range. Timestamps are relative to this value
+ * @param dictToData the conversion function from `DictPtr` to `DataType`
+ * @param dictToLatest the conversion function from `DictPtr` to `LatestType`
+ * @return the corresponding `LatestSnapshotInfo`
+ */
+ template <typename SegmentType, typename DataType, typename LatestType>
+ SnapshotRangeInfo<DataType, LatestType>
+ getSnapshotsInRange(const SegmentType* segment,
+ const MemoryID& entityID,
+ const DateTime& startTime,
+ const DateTime& endTime,
+ std::function<DataType(const aron::data::DictPtr&)> dictToData,
+ std::function<LatestType(const aron::data::DictPtr&)> dictToLatest)
+ {
+ SnapshotRangeInfo<DataType, LatestType> result;
+ result.success = false;
+
+ const server::wm::Entity* entity = segment->findEntity(entityID);
+ if (entity == nullptr)
+ {
+ std::stringstream sstream;
+ sstream << "Could not find entity with ID " << entityID << ".";
+ result.errorMessage = sstream.str();
+ return result;
+ }
+
+ const int instanceIndex = 0;
+ bool querySuccess = true;
+ entity->forEachSnapshotInTimeRange(
+ startTime,
+ endTime,
+ [&](const wm::EntitySnapshot& snapshot)
+ {
+ const auto* instance = snapshot.findInstance(instanceIndex);
+ if (instance)
+ {
+ result.timestampsSec.push_back(
+ (instance->id().timestamp - endTime).toSecondsDouble());
+ result.values.emplace_back(dictToData(instance->data()));
+ }
+ else
+ {
+ std::stringstream sstream;
+ sstream << "Could not find instance with index " << instanceIndex
+ << " in snapshot " << snapshot.id() << ".";
+ result.errorMessage = sstream.str();
+ querySuccess = false;
+ }
+ });
+
+ if (querySuccess)
+ {
+ aron::data::DictPtr latest = entity->findLatestInstanceData(instanceIndex);
+ if (latest)
+ {
+ result.success = true;
+ result.latestValue = dictToLatest(latest);
+ }
+ else
+ {
+ std::stringstream sstream;
+ sstream << "Could not find instance with index " << instanceIndex << " for entity "
+ << entity->id() << ".";
+ result.errorMessage = sstream.str();
+ }
+ }
+
+ return result;
+ }
+
+} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp
index 17dfd176e77f561e744be85802df356edbf4d804..76112d64cfa0788fadfbcc5e86f923b8bf1d978b 100644
--- a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp
+++ b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.cpp
@@ -82,20 +82,33 @@ namespace armarx::armem::grasping::known_grasps
qb
.coreSegments().withName(properties.coreSegmentName)
.providerSegments().all()
- .entities().withName(entityName)
+ .entities().withName(entityName) // first, we search for the input entity, which may be dataset/class/index
.snapshots().beforeOrAtTime(timestamp);
// clang-format on
const armem::client::QueryResult qResult = memoryReader.query(qb.buildQueryInput());
- ARMARX_DEBUG << "Lookup result in reader: " << qResult;
+ ARMARX_INFO << "Lookup result in reader: " << qResult;
if (not qResult.success) /* c++20 [[unlikely]] */
{
return std::nullopt;
}
- return queryKnownGraspInfo(qResult.memory, timestamp);
+ auto ret = queryKnownGraspInfo(qResult.memory, timestamp);
+
+ if (not ret)
+ {
+ // No grasp info was found. Try if we find a grasp without the object entity index
+ auto split = simox::alg::split(entityName, "/");
+ if (split.size() > 2) // there is more than just dataset/class
+ {
+ ARMARX_INFO << "No grasp found for object entity " << entityName << ". Search for grasp without the index";
+ return queryKnownGraspInfoByEntityName(split[0] + "/" + split[1], timestamp);
+ }
+ }
+
+ return ret;
}
} // namespace armarx::armem::attachment
diff --git a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
index 945670d82d8b2b130da2e04b3aad0ace5977efee..e421d4ee185b092ece8f81f3af45116e04c3d723 100644
--- a/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
+++ b/source/RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h
@@ -58,7 +58,7 @@ namespace armarx::armem::grasping::known_grasps
armem::client::MemoryNameSystem& memoryNameSystem;
armem::client::Reader memoryReader;
- std::mutex memoryWriterMutex;
+ mutable std::mutex memoryWriterMutex;
};
diff --git a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
index f1ad93a2c87396e2f178d2ed522d39dcd7de95b9..708144660674c9e874cc82d83ffa9e5779cd9d83 100644
--- a/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
+++ b/source/RobotAPI/libraries/armem_grasping/server/KnownGraspProviderSegment.cpp
@@ -66,9 +66,10 @@ namespace armarx::armem::grasping::segment
retGrasp.quality = std::stof(graspNode.attribute_value("quality"));
retGrasp.creator = graspNode.attribute_value("Creation");
- ARMARX_CHECK_EQUAL(graspNode.nodes().size(), 1);
+ ARMARX_CHECK(graspNode.nodes().size() == 2 or graspNode.nodes().size() == 1);
RapidXmlReaderNode transformNode = graspNode.nodes()[0];
+ ARMARX_CHECK_EQUAL(transformNode.name(), "Transform");
ARMARX_CHECK_EQUAL(transformNode.nodes().size(), 1);
RapidXmlReaderNode matrixNode = transformNode.nodes()[0];
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
index baf2fc6b4d3b8a7f72b2f63a286b6db06d6fefea..8b2b4f1d70cc65a416c8aea58c3bd165b1bcdb3f 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.cpp
@@ -43,6 +43,25 @@ namespace armarx::armem::gui::instance
builder.updateTreeWithContainer(parent, data.getAllKeys());
}
+ void TypedDataTreeBuilder::updateTree(
+ QTreeWidgetItem* parent,
+ const aron::type::AnyObject& type,
+ const aron::data::Dict& data)
+ {
+ DictBuilder builder = getDictBuilder();
+ builder.setUpdateItemFn([this, &data](const std::string & key, QTreeWidgetItem * item)
+ {
+ auto childData = data.getElement(key);
+ if (childData)
+ {
+ this->updateDispatch(item, key, nullptr, childData);
+ }
+ return true;
+ });
+
+ builder.updateTreeWithContainer(parent, data.getAllKeys());
+ }
+
void TypedDataTreeBuilder::updateTree(
QTreeWidgetItem* parent,
@@ -236,8 +255,10 @@ namespace armarx::armem::gui::instance
{
_updateTree(item, *t, d ? *d : emptyList);
}
- // else???
- // phesch: else we stop here, since there's no container to recurse into.
+ else if (const auto d = aron::data::Dict::DynamicCast(data); const auto t = type::AnyObject::DynamicCast(type))
+ {
+ _updateTree(item, *t, d ? *d : emptyDict);
+ }
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.h b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.h
index b8aacc686df4dbf2119d963f5fc163aabe0c52bf..750eae39bc7020962e2a0cb275e38bc29faae2eb 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/tree_builders/TypedDataTreeBuilder.h
@@ -32,6 +32,9 @@ namespace armarx::armem::gui::instance
void updateTree(QTreeWidgetItem* parent,
const aron::type::Dict& type,
const aron::data::Dict& data);
+ void updateTree(QTreeWidgetItem* parent,
+ const aron::type::AnyObject& type,
+ const aron::data::Dict& data);
void updateTree(QTreeWidgetItem* parent,
const aron::type::Object& type,
const aron::data::Dict& data);
diff --git a/source/RobotAPI/libraries/armem_gui/prediction_widget/PredictionWidget.cpp b/source/RobotAPI/libraries/armem_gui/prediction_widget/PredictionWidget.cpp
index 0856ff1d24329de8c4718c569072e45bbce2116a..a32ced5e4ef945ff4426c75b074cc24434b889c3 100644
--- a/source/RobotAPI/libraries/armem_gui/prediction_widget/PredictionWidget.cpp
+++ b/source/RobotAPI/libraries/armem_gui/prediction_widget/PredictionWidget.cpp
@@ -41,7 +41,7 @@ namespace armarx::armem::gui
timestampLayout(new QHBoxLayout()),
instanceSpinner(new QSpinBox()),
predictionEngineSelector(new QComboBox()),
- predictButton(new QPushButton("Make prediction")),
+ predictButton(new QPushButton("Predict")),
entityInfoRetriever(entityInfoRetriever)
{
auto* vlayout = new QVBoxLayout();
@@ -51,13 +51,13 @@ namespace armarx::armem::gui
vlayout->addLayout(hlayout);
timestampInputSelector->addItems({"Absolute", "Relative to now"});
- timestampLayout->addWidget(new QLabel("Prediction time"));
+ timestampLayout->addWidget(new QLabel("Time"));
timestampLayout->addWidget(timestampInputSelector);
vlayout->addLayout(timestampLayout);
hlayout = new QHBoxLayout();
predictionEngineSelector->setSizeAdjustPolicy(QComboBox::AdjustToContents);
- hlayout->addWidget(new QLabel("Prediction engine"));
+ hlayout->addWidget(new QLabel("Engine"));
hlayout->addWidget(predictionEngineSelector);
hlayout->addStretch();
vlayout->addLayout(hlayout);
diff --git a/source/RobotAPI/libraries/armem_gui/prediction_widget/TimestampInput.cpp b/source/RobotAPI/libraries/armem_gui/prediction_widget/TimestampInput.cpp
index 04b28cde489ae3f1efb4804ef574cb1a40516fb9..51aade002b3e6c607cf951463801e3aa281667b5 100644
--- a/source/RobotAPI/libraries/armem_gui/prediction_widget/TimestampInput.cpp
+++ b/source/RobotAPI/libraries/armem_gui/prediction_widget/TimestampInput.cpp
@@ -43,7 +43,7 @@ namespace armarx::armem::gui
microseconds->setSuffix(" µs");
auto* hlayout = new QHBoxLayout();
- hlayout->addWidget(new QLabel("Time"));
+ // hlayout->addWidget(new QLabel("Time"));
hlayout->addWidget(dateTime);
hlayout->addWidget(new QLabel("."));
hlayout->addWidget(microseconds);
@@ -66,7 +66,7 @@ namespace armarx::armem::gui
seconds->setValue(0);
auto* hlayout = new QHBoxLayout();
- hlayout->addWidget(new QLabel("Seconds"));
+ // hlayout->addWidget(new QLabel("Seconds"));
hlayout->addWidget(seconds);
setLayout(hlayout);
}
diff --git a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
index ac67c9ad6cc34d051144df93def583c94ce63187..63da8444d40d90e6c4e73a1a4fd755082f4914f9 100644
--- a/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_objects/CMakeLists.txt
@@ -20,6 +20,9 @@ armarx_add_library(
HEADERS
aron_conversions.h
aron_forward_declarations.h
+ memory_ids.h
+ types.h
+ utils.h
server/class/FloorVis.h
server/class/Segment.h
@@ -48,6 +51,9 @@ armarx_add_library(
SOURCES
aron_conversions.cpp
+ memory_ids.cpp
+ types.cpp
+ utils.cpp
client/articulated_object/Reader.cpp
client/articulated_object/Writer.cpp
@@ -67,6 +73,8 @@ armarx_add_library(
aron/Attachment.xml
# aron/Constraint.xml
+
+ aron/Marker.xml
)
diff --git a/source/RobotAPI/libraries/armem_objects/aron/Marker.xml b/source/RobotAPI/libraries/armem_objects/aron/Marker.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0fa6542098e8d8d6542845927564a5026e192de7
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/aron/Marker.xml
@@ -0,0 +1,32 @@
+<!--
+Core segment type of Object/Marker
+-->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/aron/common/aron/framed.xml>" autoinclude="true" />
+ </AronIncludes>
+ <GenerateTypes>
+ <Object name="armarx::armem::arondto::Marker">
+ <ObjectChild key="name">
+ <String />
+ </ObjectChild>
+ <ObjectChild key="markerPose">
+ <armarx::arondto::FramedPose />
+ </ObjectChild>
+ <ObjectChild key="markerGlobal">
+ <armarx::arondto::FramedPose />
+ </ObjectChild>
+ <ObjectChild key="robotGlobal">
+ <armarx::arondto::FramedPose />
+ </ObjectChild>
+ <ObjectChild key="rgbCamera">
+ <armarx::arondto::FramedPose />
+ </ObjectChild>
+ <ObjectChild key="depthCamera">
+ <armarx::arondto::FramedPose />
+ </ObjectChild>
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
+
diff --git a/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp b/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
index 8602178224b696fdcf026f50184628ee7a870dae..23b84e31aef6972059feb8cdf26f75fe3d4271ab 100644
--- a/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
+++ b/source/RobotAPI/libraries/armem_objects/aron_conversions.cpp
@@ -1,50 +1,55 @@
#include "aron_conversions.h"
#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
-
-#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
+#include <RobotAPI/libraries/aron/common/aron_conversions.h>
namespace armarx::armem
{
- void fromAron(const arondto::ObjectInstance& dto,
- objpose::arondto::ObjectPose& bo)
+ void
+ fromAron(const arondto::ObjectInstance& dto, objpose::arondto::ObjectPose& bo)
{
bo = dto.pose;
}
- void toAron(arondto::ObjectInstance& dto, const objpose::arondto::ObjectPose& bo)
+ void
+ toAron(arondto::ObjectInstance& dto, const objpose::arondto::ObjectPose& bo)
{
dto.pose = bo;
}
- void fromAron(const arondto::ObjectInstance& dto, objpose::ObjectPose& bo)
+ void
+ fromAron(const arondto::ObjectInstance& dto, objpose::ObjectPose& bo)
{
objpose::fromAron(dto.pose, bo);
}
- void toAron(arondto::ObjectInstance& dto, const objpose::ObjectPose& bo)
+ void
+ toAron(arondto::ObjectInstance& dto, const objpose::ObjectPose& bo)
{
objpose::toAron(dto.pose, bo);
}
/* Attachments */
- void fromAron(const arondto::attachment::AgentDescription& dto, attachment::AgentDescription& bo)
+ void
+ fromAron(const arondto::attachment::AgentDescription& dto, attachment::AgentDescription& bo)
{
fromAron(dto.id, bo.id);
aron::fromAron(dto.frame, bo.frame);
}
- void toAron(arondto::attachment::AgentDescription& dto, const attachment::AgentDescription& bo)
+ void
+ toAron(arondto::attachment::AgentDescription& dto, const attachment::AgentDescription& bo)
{
toAron(dto.id, bo.id);
aron::toAron(dto.frame, bo.frame);
}
- void fromAron(const arondto::attachment::ObjectAttachment& dto, attachment::ObjectAttachment& bo)
+ void
+ fromAron(const arondto::attachment::ObjectAttachment& dto, attachment::ObjectAttachment& bo)
{
fromAron(dto.agent, bo.agent);
aron::fromAron(dto.transformation, bo.transformation);
@@ -53,7 +58,8 @@ namespace armarx::armem
// TODO aron::fromAron(dto.timestamp, bo.timestamp);
}
- void toAron(arondto::attachment::ObjectAttachment& dto, const attachment::ObjectAttachment& bo)
+ void
+ toAron(arondto::attachment::ObjectAttachment& dto, const attachment::ObjectAttachment& bo)
{
toAron(dto.agent, bo.agent);
aron::toAron(dto.transformation, bo.transformation);
@@ -63,7 +69,9 @@ namespace armarx::armem
}
- void fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto, attachment::ArticulatedObjectAttachment& bo)
+ void
+ fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto,
+ attachment::ArticulatedObjectAttachment& bo)
{
fromAron(dto.agent, bo.agent);
aron::fromAron(dto.transformation, bo.transformation);
@@ -72,7 +80,9 @@ namespace armarx::armem
// TODO aron::fromAron(dto.timestamp, bo.timestamp);
}
- void toAron(arondto::attachment::ArticulatedObjectAttachment& dto, const attachment::ArticulatedObjectAttachment& bo)
+ void
+ toAron(arondto::attachment::ArticulatedObjectAttachment& dto,
+ const attachment::ArticulatedObjectAttachment& bo)
{
toAron(dto.agent, bo.agent);
aron::toAron(dto.transformation, bo.transformation);
@@ -81,16 +91,34 @@ namespace armarx::armem
// TODO aron::toAron(dto.timestamp, bo.timestamp);
}
+ void
+ toAron(arondto::Marker& dto, const marker::Marker& bo)
+ {
+ dto.name = bo.name;
+ dto.robotGlobal = bo.robotGlobal;
+ dto.rgbCamera = bo.rgbCamera;
+ dto.depthCamera = bo.depthCamera;
+ dto.markerPose = bo.markerPose;
+ dto.markerGlobal = bo.getGlobalMarkerPose();
+ }
+ void
+ fromAron(const arondto::Marker& dto, marker::Marker& bo)
+ {
+ bo.name = dto.name;
+ bo.robotGlobal = dto.robotGlobal;
+ bo.rgbCamera = dto.rgbCamera;
+ bo.depthCamera = dto.depthCamera;
+ bo.markerPose = dto.markerPose;
+ }
-
-} // namespace armarx::armem
+} // namespace armarx::armem
armarx::armem::MemoryID
armarx::armem::obj::makeObjectInstanceMemoryID(const objpose::ObjectPose& objectPose)
{
return MemoryID("Object/Instance")
- .withProviderSegmentName(objectPose.providerName)
- .withEntityName(objectPose.objectID.str())
- .withTimestamp(objectPose.timestamp);
+ .withProviderSegmentName(objectPose.providerName)
+ .withEntityName(objectPose.objectID.str())
+ .withTimestamp(objectPose.timestamp);
}
diff --git a/source/RobotAPI/libraries/armem_objects/aron_conversions.h b/source/RobotAPI/libraries/armem_objects/aron_conversions.h
index 61e89c37ec00aaabed94e1b20a2ba1b50be976a8..e27ed16c4cede302e2eecf2c013440d240162550 100644
--- a/source/RobotAPI/libraries/armem_objects/aron_conversions.h
+++ b/source/RobotAPI/libraries/armem_objects/aron_conversions.h
@@ -4,6 +4,7 @@
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/Attachment.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/aron/Marker.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/types.h>
@@ -26,6 +27,8 @@ namespace armarx::armem
void fromAron(const arondto::attachment::ArticulatedObjectAttachment& dto, attachment::ArticulatedObjectAttachment& bo);
void toAron(arondto::attachment::ArticulatedObjectAttachment& dto, const attachment::ArticulatedObjectAttachment& bo);
+ void fromAron(const arondto::Marker& dto, marker::Marker&bo);
+ void toAron(arondto::Marker& dto, const marker::Marker&bo);
} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem_objects/aron_forward_declarations.h b/source/RobotAPI/libraries/armem_objects/aron_forward_declarations.h
index 9416a033d713f5c8dab28506538c1a56534dbb53..6a57255f1019c433f87d7f1f66faa3919a9087c8 100644
--- a/source/RobotAPI/libraries/armem_objects/aron_forward_declarations.h
+++ b/source/RobotAPI/libraries/armem_objects/aron_forward_declarations.h
@@ -5,4 +5,6 @@ namespace armarx::armem::arondto
{
class ObjectClass;
class ObjectInstance;
+ class Marker;
}
+
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
index 6cbb3ecdcfee0334df79a9d6728080c5bce55f5f..54049d8bbeb899b350dfab4906a125157ea527b9 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.cpp
@@ -28,7 +28,7 @@ namespace armarx::armem::articulated_object
{"PriorKnowledgeData"}, obj.getFilename()),
obj.getFilename())
},
- .instance = "", // TODO(fabian.reister):
+ .instance = obj.getName(),
.config = {
.timestamp = timestamp,
.globalPose = Eigen::Affine3f(obj.getRootNode()->getGlobalPose()),
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp
index 861ff14b97addd9b87fee4a834bd605f20b2b681..a515fe725b51ff8302a129053996e97d6738872c 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp
@@ -21,8 +21,8 @@
namespace armarx::armem::obj::instance
{
- Reader::Reader(armem::client::MemoryNameSystem& memoryNameSystem) :
- memoryNameSystem(memoryNameSystem)
+ Reader::Reader(armem::client::MemoryNameSystem& memoryNameSystem, const objpose::ObjectPoseProviderPrx& objPoseProvider) :
+ memoryNameSystem(memoryNameSystem), objPoseProvider(objPoseProvider)
{}
void Reader::registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def)
@@ -55,6 +55,16 @@ namespace armarx::armem::obj::instance
}
}
+ bool Reader::requestLocalization(const std::string& entityName, const armarx::core::time::Duration& until)
+ {
+ auto entityNameParts = GetEntityNameParts(entityName);
+
+ armarx::data::ObjectID requestObject({std::get<0>(entityNameParts), std::get<1>(entityNameParts), std::get<2>(entityNameParts)});
+ armarx::objpose::provider::RequestObjectsOutput requestResult = objPoseProvider->requestObjects({{requestObject}, until.toMilliSeconds()});
+
+ return requestResult.results.at(requestObject).success;
+ }
+
/// get the latest object from an memory and cast it to an ObjectInstance
std::optional<armarx::armem::arondto::ObjectInstance> Reader::queryObject(const armem::wm::Memory& memory, const armem::Time& timestamp)
{
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
index 825687d5b6bf17acad4515841e9852c9f020dbed..4900004e06517e824053b4ed080de02c42aeb3a2 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h
@@ -32,23 +32,29 @@
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
+// The object pose provider. As long as the provider is not connected to armem we need the second proxy
+#include <RobotAPI/interface/objectpose/ObjectPoseProvider.h>
namespace armarx::armem::obj::instance
{
class Reader
{
public:
- Reader(armem::client::MemoryNameSystem& memoryNameSystem);
+ Reader(armem::client::MemoryNameSystem& memoryNameSystem, const objpose::ObjectPoseProviderPrx& objPoseProvider);
virtual ~Reader() = default;
void registerPropertyDefinitions(armarx::PropertyDefinitionsPtr& def);
void connect();
+ // localization stuff
+ bool requestLocalization(const std::string& entityName, const armarx::core::time::Duration& until);
+
+ // query existing instances from the memory
std::optional<armem::arondto::ObjectInstance> queryObject(const armem::wm::Memory& memory, const armem::Time&);
std::optional<armem::arondto::ObjectInstance> queryObjectByEntityID(const std::string& entityName, const armem::Time&);
std::optional<armem::arondto::ObjectInstance> queryObjectByObjectID(const std::string& objectId, const armem::Time&);
- // return the class name, e.g. Kitchen/greencup in Kitchen/greencup/0
+ // return the dataset/class, e.g. Kitchen/greencup in Kitchen/greencup/0
static std::string GetObjectId(const std::string& s)
{
auto split = simox::alg::split(s, "/");
@@ -69,7 +75,40 @@ namespace armarx::armem::obj::instance
return "";
}
- // return the class name, e.g. greencup in Kitchen/greencup/0
+ // return all parts of the entity name
+ static std::tuple<std::string, std::string, std::string> GetEntityNameParts(const std::string& s)
+ {
+ std::string dataset = "";
+ std::string clazz = "";
+ std::string instance = "";
+
+ auto split = simox::alg::split(s, "/");
+ if (simox::alg::starts_with(s, "/"))
+ {
+ split.insert(split.begin(), ""); // sanitize
+ }
+
+ for (auto& e : split)
+ {
+ e = simox::alg::replace_all(e, "/", "");
+ }
+
+ if (split.size() > 0)
+ {
+ dataset = split[0];
+ }
+ if (split.size() > 1)
+ {
+ clazz = split[1];
+ }
+ if (split.size() > 2)
+ {
+ instance = split[2];
+ }
+ return {dataset, clazz, instance};
+ }
+
+ // return the class, e.g. greencup in Kitchen/greencup/0
static std::string GetObjectClassName(const std::string& s)
{
auto split = simox::alg::split(s, "/");
@@ -133,8 +172,10 @@ namespace armarx::armem::obj::instance
const std::string propertyPrefix = "mem.obj.instance.";
armem::client::MemoryNameSystem& memoryNameSystem;
+ objpose::ObjectPoseProviderPrx objPoseProvider;
+
armem::client::Reader memoryReader;
- std::mutex memoryWriterMutex;
+ mutable std::mutex memoryWriterMutex;
};
diff --git a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h
index 1c9f82e01dd6e48f4264b5de597413fb0b2eb57c..972227993aa5c6369ff656a594fa2e2005b0f9dd 100644
--- a/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h
+++ b/source/RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h
@@ -60,7 +60,7 @@ namespace armarx::armem::obj::instance
armem::client::MemoryNameSystem& memoryNameSystem;
armem::client::Writer memoryWriter;
- std::mutex memoryWriterMutex;
+ mutable std::mutex memoryWriterMutex;
};
diff --git a/source/RobotAPI/libraries/armem_objects/memory_ids.cpp b/source/RobotAPI/libraries/armem_objects/memory_ids.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ad77419a2e5d3288aefae77a038cca62808e81dd
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/memory_ids.cpp
@@ -0,0 +1,35 @@
+/*
+ * 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_objects
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "memory_ids.h"
+
+
+namespace armarx::armem
+{
+
+ const MemoryID objects::memoryID { "Object" };
+
+ const MemoryID objects::attachmentsSegmentID = memoryID.withCoreSegmentName("Attachments");
+ const MemoryID objects::classSegmentID = memoryID.withCoreSegmentName("Class");
+ const MemoryID objects::instaceSegmentID = memoryID.withCoreSegmentName("Instance");
+
+}
diff --git a/source/RobotAPI/libraries/armem_objects/memory_ids.h b/source/RobotAPI/libraries/armem_objects/memory_ids.h
new file mode 100644
index 0000000000000000000000000000000000000000..50408b82f550fe2ecf80b4cc5d4930ee9b69b012
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/memory_ids.h
@@ -0,0 +1,38 @@
+/*
+ * 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_objects
+ * @author Rainer Kartmann ( rainer dot kartmann 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/armem/core/MemoryID.h>
+
+
+namespace armarx::armem::objects
+{
+
+ extern const MemoryID memoryID;
+
+ extern const MemoryID attachmentsSegmentID;
+ extern const MemoryID classSegmentID;
+ extern const MemoryID instaceSegmentID;
+
+
+} // namespace armarx::armem::objects
diff --git a/source/RobotAPI/libraries/armem_objects/server/CMakeLists.txt b/source/RobotAPI/libraries/armem_objects/server/CMakeLists.txt
index 9f977a7beaa67789b181cbabb18752cbf4242fef..74e29b855363472523ae328b2698059a8f9d108f 100644
--- a/source/RobotAPI/libraries/armem_objects/server/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_objects/server/CMakeLists.txt
@@ -36,6 +36,8 @@ armarx_add_library(
instance/Visu.h
instance/ArticulatedObjectVisu.h
+ instance/visu/LinearPredictionsVisu.h
+
attachments/Segment.h
SOURCES
@@ -49,6 +51,8 @@ armarx_add_library(
instance/Visu.cpp
instance/ArticulatedObjectVisu.cpp
+ instance/visu/LinearPredictionsVisu.cpp
+
attachments/Segment.cpp
)
diff --git a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
index 4f8cd20ccd9a0ce456bb664f5f5eb8a25f1981e0..9f4636fa9484d8c9d4fdd4d0a825442f06340637 100644
--- a/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
+++ b/source/RobotAPI/libraries/armem_objects/server/attachments/Segment.h
@@ -25,6 +25,7 @@
#include <RobotAPI/libraries/armem/core/forward_declarations.h>
#include <RobotAPI/libraries/armem/server/forward_declarations.h>
#include <RobotAPI/libraries/armem_objects/types.h>
+#include <RobotAPI/libraries/armem_objects/memory_ids.h>
#include <ArmarXCore/core/application/properties/forward_declarations.h>
#include <ArmarXCore/core/logging/Logging.h>
@@ -57,7 +58,7 @@ namespace armarx::armem::server::obj::attachments
struct Properties
{
- std::string coreSegmentName = "Attachments";
+ std::string coreSegmentName = objects::attachmentsSegmentID.coreSegmentName;
int64_t maxHistorySize = -1;
};
Properties p;
diff --git a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
index 3250a1cca34d47df08e4d9218c0bfeda729163b0..a95e98d011e52c7f6251a2119b66b971b9d5a045 100644
--- a/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/class/Segment.cpp
@@ -5,6 +5,7 @@
#include <RobotAPI/libraries/ArmarXObjects/aron_conversions.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_objects/memory_ids.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
@@ -22,7 +23,7 @@ namespace armarx::armem::server::obj::clazz
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- SpecializedCoreSegment(memoryToIceAdapter, "Class", arondto::ObjectClass::ToAronType(), -1)
+ SpecializedCoreSegment(memoryToIceAdapter, objects::classSegmentID.coreSegmentName, arondto::ObjectClass::ToAronType(), -1)
{
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
index 02ef2083d68d7ba002897feed03678c9676b77ed..7f3aee34f4d6382fd08eb466116b62a803293b80 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Segment.cpp
@@ -6,6 +6,7 @@
#include <RobotAPI/libraries/armem_objects/aron/ObjectClass.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+#include <RobotAPI/libraries/armem_objects/memory_ids.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem/core/error.h>
@@ -15,6 +16,7 @@
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
#include <RobotAPI/libraries/armem/util/util.h>
+
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectFinder.h>
@@ -51,10 +53,9 @@ namespace armarx::armem::server::obj::instance
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
SpecializedCoreSegment(memoryToIceAdapter,
- "Instance",
+ objects::instaceSegmentID.coreSegmentName,
arondto::ObjectInstance::ToAronType(),
- 64,
- predictionEngines)
+ 64)
{
oobbCache.setFetchFn([this](const ObjectID & id) -> std::optional<simox::OrientedBoxf>
{
@@ -1122,7 +1123,8 @@ namespace armarx::armem::server::obj::instance
segment.storeScene(storeLoadLine.getValue(), scene);
}
- if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
+ if (infiniteHistory.hasValueChanged()
+ || maxHistorySize.hasValueChanged()
|| discardSnapshotsWhileAttached.hasValueChanged())
{
segment.doLocked([this, &segment]()
@@ -1194,6 +1196,7 @@ namespace armarx::armem::server::obj::instance
VirtualRobot::RobotPtr robot = reader->getRobot(
robotName, Clock::Now(),
VirtualRobot::RobotIO::RobotDescription::eStructure, warnings);
+ reader->synchronizeRobot(*robot, Clock::Now());
// Store robot if valid.
if (robot)
{
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
index 00456e20382f6d6ad4d573bd7fc6e1820d656433..a77c3e8516a081a57d4c94327150062857f5f233 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.cpp
@@ -572,7 +572,7 @@ namespace armarx::armem::server::obj::instance
poseHistories[id] = instance::Segment::getObjectPosesInRange(
*entity,
Time::Now() - Duration::SecondsDouble(
- visu.linearPredictionTimeWindowSeconds),
+ visu.linearPredictions.timeWindowSeconds),
Time::Invalid());
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
index eb7d90cd267566d10487ce4d2b390ccc63eee586..3a13f6722e5cd2c0f824c630a83367b47af1de72 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.cpp
@@ -35,27 +35,28 @@ namespace armarx::armem::server::obj::instance
defs->optional(objectFramesScale, prefix + "objectFramesScale",
"Scaling of object frames.");
- defs->optional(gaussiansPosition, prefix + "gaussians.position",
+ gaussians.defineProperties(defs, prefix + "gaussians.");
+
+ defs->optional(useArticulatedModels, prefix + "useArticulatedModels",
+ "Prefer articulated object models if available.");
+
+ linearPredictions.defineProperties(defs, prefix + "predictions.linear.");
+ }
+
+
+ void Visu::Gaussians::defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix)
+ {
+ defs->optional(position, prefix + "position",
"Enable showing pose gaussians (position part).");
- defs->optional(gaussiansPositionScale, prefix + "gaussians.positionScale",
+ defs->optional(positionScale, prefix + "positionScale",
"Scaling of pose gaussians (position part).");
- defs->optional(gaussiansOrientation, prefix + "gaussians.position",
+ defs->optional(orientation, prefix + "position",
"Enable showing pose gaussians (orientation part).");
- defs->optional(gaussiansOrientationScale, prefix + "gaussians.positionScale",
+ defs->optional(orientationScale, prefix + "positionScale",
"Scaling of pose gaussians (orientation part).");
- defs->optional(gaussiansOrientationDisplaced, prefix + "gaussians.positionDisplaced",
+ defs->optional(orientationDisplaced, prefix + "positionDisplaced",
"Displace center orientation (co)variance circle arrows along their rotation axis.");
-
- defs->optional(useArticulatedModels, prefix + "useArticulatedModels",
- "Prefer articulated object models if available.");
-
- defs->optional(showLinearPredictions, prefix + "predictions.linear.show",
- "Show arrows linearly predicting object positions.");
- defs->optional(linearPredictionTimeOffsetSeconds, prefix + "predictions.linear.timeOffset",
- "The offset (in seconds) to the current time to make predictions for.");
- defs->optional(linearPredictionTimeWindowSeconds, prefix + "predictions.linear.timeWindow",
- "The time window (in seconds) into the past to perform the regression on.");
}
@@ -168,11 +169,26 @@ namespace armarx::armem::server::obj::instance
const std::string key = id.str();
const Eigen::Matrix4f pose = inGlobalFrame ? objectPose.objectPoseGlobal : objectPose.objectPoseRobot;
+ std::optional<ObjectInfo> objectInfo = objectFinder.findObject(id);
+
+ auto makeObject = [&objectInfo, &id](const std::string& key)
{
- std::optional<ObjectInfo> objectInfo = objectFinder.findObject(id);
+ viz::Object object(key);
+ if (objectInfo)
+ {
+ object.file(objectInfo->package(), objectInfo->simoxXML().relativePath);
+ }
+ else
+ {
+ object.fileByObjectFinder(id);
+ }
+ return object;
+ };
+ bool hasObject = false;
+ {
bool done = false;
- if (useArticulatedModels && objectInfo)
+ if (useArticulatedModels and objectInfo)
{
if (std::optional<PackageFileLocation> model = objectInfo->getArticulatedModel())
{
@@ -185,18 +201,9 @@ namespace armarx::armem::server::obj::instance
done = true;
}
}
- if (!done)
+ if (not done)
{
- viz::Object object(key);
- object.pose(pose);
- if (objectInfo)
- {
- object.file(objectInfo->package(), objectInfo->simoxXML().relativePath);
- }
- else
- {
- object.fileByObjectFinder(id);
- }
+ viz::Object object = makeObject(key).pose(pose);
if (alphaByConfidence && objectPose.confidence < 1.0f)
{
object.overrideColor(simox::Color::white().with_alpha(objectPose.confidence));
@@ -206,10 +213,11 @@ namespace armarx::armem::server::obj::instance
object.overrideColor(simox::Color::white().with_alpha(alpha));
}
layer.add(object);
+ hasObject = true;
}
}
- if (oobbs && objectPose.localOOBB)
+ if (oobbs and objectPose.localOOBB)
{
const simox::OrientedBoxf oobb = inGlobalFrame
? objectPose.oobbGlobal().value()
@@ -220,83 +228,85 @@ namespace armarx::armem::server::obj::instance
{
layer.add(viz::Pose(key + " Pose").pose(pose).scale(objectFramesScale));
}
- if (objectPose.objectPoseGlobalGaussian.has_value() and (gaussiansPosition or gaussiansOrientation))
+ if (gaussians.showAny()
+ and (inGlobalFrame ? objectPose.objectPoseGlobalGaussian.has_value() : objectPose.objectPoseRobotGaussian.has_value()))
{
- const objpose::PoseManifoldGaussian& gaussian = objectPose.objectPoseGlobalGaussian.value();
- objpose::PoseManifoldGaussian::Ellipsoid ellipsoid = gaussian.getPositionEllipsoid();
+ gaussians.draw(layer, objectPose, inGlobalFrame);
+ }
+ if (linearPredictions.showAny() and hasObject)
+ {
+ linearPredictions.draw(layer, makeObject, objectPose, poseHistory, inGlobalFrame);
+ }
+ }
- if (gaussiansPosition)
- {
- layer.add(viz::Ellipsoid(key + " Gaussian (Translation)")
- .position(ellipsoid.center)
- .orientation(ellipsoid.orientation)
- .axisLengths(gaussiansPositionScale * ellipsoid.size)
- .color(viz::Color::azure(255, 32))
- );
+ bool Visu::Gaussians::showAny() const
+ {
+ return position or orientation;
+ }
- if (false) // Arrows can be visualized for debugging.
- {
- for (int i = 0; i < 3; ++i)
- {
- Eigen::Vector3i color = Eigen::Vector3i::Zero();
- color(i) = 255;
-
- layer.add(viz::Arrow(key + " Gaussian (Translation)" + std::to_string(i))
- .fromTo(ellipsoid.center,
- ellipsoid.center + gaussiansPositionScale * ellipsoid.size(i)
- * ellipsoid.orientation.col(i)
- )
- .width(5)
- .color(simox::Color(color))
- );
- }
- }
- }
- if (gaussiansOrientation)
+ void Visu::Gaussians::draw(
+ viz::Layer& layer,
+ const objpose::ObjectPose& objectPose,
+ bool inGlobalFrame) const
+ {
+ const std::string key = objectPose.objectID.str();
+
+ const objpose::PoseManifoldGaussian& gaussian =
+ inGlobalFrame
+ ? objectPose.objectPoseGlobalGaussian.value()
+ : objectPose.objectPoseRobotGaussian.value()
+ ;
+ objpose::PoseManifoldGaussian::Ellipsoid ellipsoid = gaussian.getPositionEllipsoid();
+
+ if (position)
+ {
+ layer.add(viz::Ellipsoid(key + " Gaussian (Translation)")
+ .position(ellipsoid.center)
+ .orientation(ellipsoid.orientation)
+ .axisLengths(positionScale * ellipsoid.size)
+ .color(viz::Color::azure(255, 32))
+ );
+
+ if (false) // Arrows can be visualized for debugging.
{
- const float pi = static_cast<float>(M_PI);
for (int i = 0; i < 3; ++i)
{
- const bool global = true;
- Eigen::AngleAxisf rot = gaussian.getScaledRotationAxis(i, global);
-
- Eigen::Vector4i color = Eigen::Vector4i::Zero();
+ Eigen::Vector3i color = Eigen::Vector3i::Zero();
color(i) = 255;
- color(3) = 64;
-
- layer.add(viz::ArrowCircle(key + " Gaussian (Orientation) " + std::to_string(i))
- .position(gaussiansOrientationDisplaced
- ? ellipsoid.center + gaussiansOrientationScale * rot.axis()
- : ellipsoid.center)
- .normal(rot.axis())
- .radius(gaussiansOrientationScale)
- .completion(simox::math::rescale(rot.angle(), 0.f, pi * 2, 0.f, 1.f))
- .width(simox::math::rescale(rot.angle(), 0.f, pi * 2, 2.f, 7.f))
+
+ layer.add(viz::Arrow(key + " Gaussian (Translation)" + std::to_string(i))
+ .fromTo(ellipsoid.center,
+ ellipsoid.center + positionScale * ellipsoid.size(i)
+ * ellipsoid.orientation.col(i)
+ )
+ .width(5)
.color(simox::Color(color))
);
}
}
}
- if (showLinearPredictions)
+ if (orientation)
{
- auto predictionResult = objpose::predictObjectPoseLinear(
- poseHistory,
- Time::Now() + Duration::SecondsDouble(linearPredictionTimeOffsetSeconds),
- objectPose);
- if (predictionResult.success)
+ const float pi = static_cast<float>(M_PI);
+ for (int i = 0; i < 3; ++i)
{
- auto predictedPose =
- armarx::fromIce<objpose::ObjectPose>(predictionResult.prediction);
- Eigen::Vector3f predictedPosition = simox::math::position(
- inGlobalFrame ? predictedPose.objectPoseGlobal : predictedPose.objectPoseRobot);
- layer.add(viz::Arrow(key + " Linear Prediction")
- .fromTo(simox::math::position(pose), predictedPosition)
- .color(viz::Color::blue()));
- }
- else
- {
- ARMARX_INFO << "Linear prediction for visualization failed: "
- << predictionResult.errorMessage;
+ const bool global = true;
+ Eigen::AngleAxisf rot = gaussian.getScaledRotationAxis(i, global);
+
+ Eigen::Vector4i color = Eigen::Vector4i::Zero();
+ color(i) = 255;
+ color(3) = 64;
+
+ layer.add(viz::ArrowCircle(key + " Gaussian (Orientation) " + std::to_string(i))
+ .position(orientationDisplaced
+ ? ellipsoid.center + orientationScale * rot.axis()
+ : ellipsoid.center)
+ .normal(rot.axis())
+ .radius(orientationScale)
+ .completion(simox::math::rescale(rot.angle(), 0.f, pi * 2, 0.f, 1.f))
+ .width(simox::math::rescale(rot.angle(), 0.f, pi * 2, 2.f, 7.f))
+ .color(simox::Color(color))
+ );
}
}
}
@@ -324,12 +334,12 @@ namespace armarx::armem::server::obj::instance
objectFrames.setValue(visu.objectFrames);
initScale(objectFramesScale, visu.objectFramesScale, 10);
- gaussians.position.setValue(visu.gaussiansPosition);
- initScale(gaussians.positionScale, visu.gaussiansPositionScale, 10);
+ gaussians.position.setValue(visu.gaussians.position);
+ initScale(gaussians.positionScale, visu.gaussians.positionScale, 10);
- gaussians.orientation.setValue(visu.gaussiansOrientation);
- initScale(gaussians.orientationScale, visu.gaussiansOrientationScale, 0.5);
- gaussians.orientationDisplaced.setValue(visu.gaussiansOrientationDisplaced);
+ gaussians.orientation.setValue(visu.gaussians.orientation);
+ initScale(gaussians.orientationScale, visu.gaussians.orientationScale, 0.5);
+ gaussians.orientationDisplaced.setValue(visu.gaussians.orientationDisplaced);
useArticulatedModels.setValue(visu.useArticulatedModels);
@@ -358,7 +368,7 @@ namespace armarx::armem::server::obj::instance
grid.add(Label("Use Articulated Models"), {row, 0}).add(useArticulatedModels, {row, 1});
row++;
- linearPredictions.setup(visu);
+ linearPredictions.setup(visu.linearPredictions);
grid.add(linearPredictions.group, {row, 0}, {1, 4});
row++;
@@ -390,6 +400,17 @@ namespace armarx::armem::server::obj::instance
}
+ void Visu::RemoteGui::Gaussians::update(Visu::Gaussians& data)
+ {
+ data.position = position.getValue();
+ data.positionScale = positionScale.getValue();
+
+ data.orientation = orientation.getValue();
+ data.orientationScale = orientationScale.getValue();
+ data.orientationDisplaced = orientationDisplaced.getValue();
+ }
+
+
void Visu::RemoteGui::update(Visu& visu)
{
visu.enabled = enabled.getValue();
@@ -401,56 +422,11 @@ namespace armarx::armem::server::obj::instance
visu.objectFrames = objectFrames.getValue();
visu.objectFramesScale = objectFramesScale.getValue();
- visu.gaussiansPosition = gaussians.position.getValue();
- visu.gaussiansPositionScale = gaussians.positionScale.getValue();
-
- visu.gaussiansOrientation = gaussians.orientation.getValue();
- visu.gaussiansOrientationScale = gaussians.orientationScale.getValue();
- visu.gaussiansOrientationDisplaced = gaussians.orientationDisplaced.getValue();
+ gaussians.update(visu.gaussians);
visu.useArticulatedModels = useArticulatedModels.getValue();
- linearPredictions.update(visu);
- }
-
-
- void Visu::RemoteGui::LinearPredictions::setup(const Visu& visu)
- {
- using namespace armarx::RemoteGui::Client;
-
- show.setValue(visu.showLinearPredictions);
- timeOffsetSeconds.setValue(visu.linearPredictionTimeOffsetSeconds);
- timeOffsetSeconds.setRange(-1e6, 1e6);
- timeOffsetSeconds.setSteps(2 * 2 * 1000 * 1000);
-
- timeWindowSeconds.setValue(visu.linearPredictionTimeWindowSeconds);
- timeWindowSeconds.setRange(0, 1e6);
- timeWindowSeconds.setSteps(2 * 1000 * 1000);
-
-
- GridLayout grid;
- int row = 0;
-
- grid.add(Label("Show"), {row, 0}).add(show, {row, 1});
- row++;
- grid.add(Label("Time (seconds from now):"), {row, 0})
- .add(timeOffsetSeconds, {row, 1});
- row++;
- grid.add(Label("Time Window (seconds):"), {row, 0})
- .add(timeWindowSeconds, {row, 1});
- row++;
-
- group = GroupBox();
- group.setLabel("Linear Predictions");
- group.addChild(grid);
- }
-
-
- void Visu::RemoteGui::LinearPredictions::update(Visu& visu)
- {
- visu.showLinearPredictions = show.getValue();
- visu.linearPredictionTimeOffsetSeconds = timeOffsetSeconds.getValue();
- visu.linearPredictionTimeWindowSeconds = timeWindowSeconds.getValue();
+ linearPredictions.update(visu.linearPredictions);
}
}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
index 0341f514421e10a9158a446c1cb2c4a7eb3625e6..13a27228aa1198d91d1c0db4c1f809ce93b6f5f1 100644
--- a/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/Visu.h
@@ -9,6 +9,7 @@
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h>
#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
+#include <RobotAPI/libraries/armem_objects/server/instance/visu/LinearPredictionsVisu.h>
namespace armarx
@@ -83,19 +84,28 @@ namespace armarx::armem::server::obj::instance
bool objectFrames = false;
float objectFramesScale = 1.0;
- bool gaussiansPosition = true;
- float gaussiansPositionScale = 1.0;
- bool gaussiansOrientation = false;
- float gaussiansOrientationScale = 100;
- bool gaussiansOrientationDisplaced = false;
+ struct Gaussians
+ {
+ bool position = true;
+ float positionScale = 1.0;
+ bool orientation = false;
+ float orientationScale = 100;
+ bool orientationDisplaced = false;
+
+ void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix);
+
+ bool showAny() const;
+ void draw(viz::Layer& layer,
+ const objpose::ObjectPose& objectPose,
+ bool inGlobalFrame) const;
+ };
+ Gaussians gaussians;
/// Prefer articulated models if available.
bool useArticulatedModels = true;
- /// Linear prediction arrows for object positions.
- bool showLinearPredictions = false;
- float linearPredictionTimeOffsetSeconds = 1;
- float linearPredictionTimeWindowSeconds = 2;
+ /// Linear predictions for objects.
+ visu::LinearPredictions linearPredictions;
SimpleRunningTask<>::pointer_type updateTask;
@@ -125,25 +135,13 @@ namespace armarx::armem::server::obj::instance
armarx::RemoteGui::Client::GroupBox group;
void setup(const Visu& data);
+ void update(Visu::Gaussians& data);
};
Gaussians gaussians;
armarx::RemoteGui::Client::CheckBox useArticulatedModels;
-
- struct LinearPredictions
- {
- armarx::RemoteGui::Client::CheckBox show;
-
- armarx::RemoteGui::Client::FloatSpinBox timeOffsetSeconds;
- armarx::RemoteGui::Client::FloatSpinBox timeWindowSeconds;
-
- armarx::RemoteGui::Client::GroupBox group;
-
- void setup(const Visu& data);
- void update(Visu& data);
- };
- LinearPredictions linearPredictions;
+ visu::LinearPredictions::RemoteGui linearPredictions;
void setup(const Visu& visu);
void update(Visu& visu);
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/visu/LinearPredictionsVisu.cpp b/source/RobotAPI/libraries/armem_objects/server/instance/visu/LinearPredictionsVisu.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..789b597d51ab1845ca75375bb13a7ec105dadc3d
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/visu/LinearPredictionsVisu.cpp
@@ -0,0 +1,146 @@
+#include "LinearPredictionsVisu.h"
+
+#include <SimoxUtility/math/pose.h>
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/ice_conversions.h>
+#include <ArmarXCore/core/time/ice_conversions.h>
+#include <ArmarXCore/core/time/TimeUtil.h>
+
+#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
+#include <RobotAPI/libraries/ArmarXObjects/ice_conversions.h>
+#include <RobotAPI/libraries/ArmarXObjects/predictions.h>
+
+
+namespace armarx::armem::server::obj::instance::visu
+{
+
+ void LinearPredictions::defineProperties(PropertyDefinitionsPtr defs, const std::string& prefix)
+ {
+ defs->optional(showGhost, prefix + "showGhost",
+ "Show ghosts at linearly predicted object poses.");
+ defs->optional(ghostAlpha, prefix + "ghostAlpha",
+ "Alpha of linear prediction ghosts.");
+ defs->optional(showFrame, prefix + "showFrame",
+ "Show frames at linearly predicted object poses.");
+ defs->optional(showArrow, prefix + "showArrow",
+ "Show arrows from current object poses to the linearly predicted ones.");
+ defs->optional(timeOffsetSeconds, prefix + "timeOffset",
+ "The offset (in seconds) to the current time to make predictions for.");
+ defs->optional(timeWindowSeconds, prefix + "timeWindow",
+ "The time window (in seconds) into the past to perform the regression on.");
+
+ }
+
+
+ bool LinearPredictions::showAny() const
+ {
+ return showGhost or showFrame or showArrow;
+ }
+
+ void LinearPredictions::draw(
+ viz::Layer& layer,
+ std::function<viz::Object(const std::string& key)> makeObjectFn,
+ const objpose::ObjectPose& objectPose,
+ const std::map<DateTime, objpose::ObjectPose>& poseHistory,
+ bool inGlobalFrame
+ ) const
+ {
+ const std::string key = objectPose.objectID.str();
+ const Eigen::Matrix4f pose = inGlobalFrame ? objectPose.objectPoseGlobal : objectPose.objectPoseRobot;
+
+ auto predictionResult = objpose::predictObjectPoseLinear(
+ poseHistory,
+ DateTime::Now() + Duration::SecondsDouble(timeOffsetSeconds),
+ objectPose);
+ if (predictionResult.success)
+ {
+ auto predictedObjectPose =
+ armarx::fromIce<objpose::ObjectPose>(predictionResult.prediction);
+ const Eigen::Matrix4f& predictedPose =
+ inGlobalFrame ? predictedObjectPose.objectPoseGlobal : predictedObjectPose.objectPoseRobot;
+
+ if (showGhost)
+ {
+ layer.add(makeObjectFn(key + " Linear Prediction Ghost")
+ .pose(predictedPose)
+ .overrideColor(simox::Color::white().with_alpha(ghostAlpha)));
+ }
+ if (showFrame)
+ {
+ layer.add(viz::Pose(key + " Linear Prediction Pose")
+ .pose(predictedPose));
+ }
+ if (showArrow)
+ {
+ layer.add(viz::Arrow(key + " Linear Prediction Arrw")
+ .fromTo(simox::math::position(pose), simox::math::position(predictedPose))
+ .width(10)
+ .color(viz::Color::azure()));
+ }
+ }
+ else
+ {
+ ARMARX_INFO << deactivateSpam(60) << "Linear prediction for visualization failed: "
+ << predictionResult.errorMessage;
+ }
+ }
+
+
+ void LinearPredictions::RemoteGui::setup(const LinearPredictions& data)
+ {
+ using namespace armarx::RemoteGui::Client;
+
+ showGhost.setName("Show Ghost");
+ showGhost.setValue(data.showGhost);
+ showFrame.setValue(data.showFrame);
+ showArrow.setValue(data.showArrow);
+
+ ghostAlpha.setRange(0, 1);
+ ghostAlpha.setValue(0.5);
+
+ timeOffsetSeconds.setValue(data.timeOffsetSeconds);
+ timeOffsetSeconds.setRange(-1e6, 1e6);
+ timeOffsetSeconds.setSteps(2 * 2 * 1000 * 1000);
+
+ timeWindowSeconds.setValue(data.timeWindowSeconds);
+ timeWindowSeconds.setRange(0, 1e6);
+ timeWindowSeconds.setSteps(2 * 1000 * 1000);
+
+ GridLayout grid;
+ int row = 0;
+
+ HBoxLayout showBoxes(
+ {Label("Ghost"), showGhost,
+ Label(" Frame"), showFrame,
+ Label(" Arrow"), showArrow,
+ Label(" Ghost Alpha"), ghostAlpha
+ });
+ grid.add(showBoxes, {row, 0}, {1, 2});
+ row++;
+
+ grid.add(Label("Prediction time (sec from now):"), {row, 0})
+ .add(timeOffsetSeconds, {row, 1});
+ row++;
+
+ grid.add(Label("Model time window (sec before now):"), {row, 0})
+ .add(timeWindowSeconds, {row, 1});
+ row++;
+
+ group = GroupBox();
+ group.setLabel("Linear Predictions");
+ group.addChild(grid);
+ }
+
+
+ void LinearPredictions::RemoteGui::update(LinearPredictions& data)
+ {
+ data.showGhost = showGhost.getValue();
+ data.ghostAlpha = ghostAlpha.getValue();
+ data.showFrame = showFrame.getValue();
+ data.showArrow = showArrow.getValue();
+ data.timeOffsetSeconds = timeOffsetSeconds.getValue();
+ data.timeWindowSeconds = timeWindowSeconds.getValue();
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem_objects/server/instance/visu/LinearPredictionsVisu.h b/source/RobotAPI/libraries/armem_objects/server/instance/visu/LinearPredictionsVisu.h
new file mode 100644
index 0000000000000000000000000000000000000000..9ede135125c6d44ac62bdd5ecef2fc6eeb2f353c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/server/instance/visu/LinearPredictionsVisu.h
@@ -0,0 +1,59 @@
+#pragma once
+
+
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/DateTime.h>
+
+#include <ArmarXGui/libraries/RemoteGui/Client/Widgets.h>
+
+#include <RobotAPI/components/ArViz/Client/Layer.h>
+#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
+
+
+namespace armarx::armem::server::obj::instance::visu
+{
+
+ /// Visualization control for linear predictions for objects.
+ struct LinearPredictions : public armarx::Logging
+ {
+ bool showGhost = false;
+ float ghostAlpha = 0.7;
+
+ bool showFrame = false;
+ bool showArrow = false;
+
+ float timeOffsetSeconds = 1;
+ float timeWindowSeconds = 2;
+
+ void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix);
+
+ bool showAny() const;
+ void draw(viz::Layer& layer,
+ std::function<viz::Object(const std::string& key)> makeObjectFn,
+ const objpose::ObjectPose& objectPose,
+ const std::map<DateTime, objpose::ObjectPose>& poseHistory,
+ bool inGlobalFrame) const;
+
+
+ struct RemoteGui
+ {
+ armarx::RemoteGui::Client::CheckBox showGhost;
+ armarx::RemoteGui::Client::FloatSpinBox ghostAlpha;
+
+ armarx::RemoteGui::Client::CheckBox showFrame;
+ armarx::RemoteGui::Client::CheckBox showArrow;
+
+ armarx::RemoteGui::Client::FloatSpinBox timeOffsetSeconds;
+ armarx::RemoteGui::Client::FloatSpinBox timeWindowSeconds;
+
+ armarx::RemoteGui::Client::GroupBox group;
+
+ void setup(const LinearPredictions& data);
+ void update(LinearPredictions& data);
+ };
+
+ };
+
+
+}
diff --git a/source/RobotAPI/libraries/armem_objects/types.cpp b/source/RobotAPI/libraries/armem_objects/types.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..58c02ecd6d2392a4367ec2731dc0a8d8d9a1d4f7
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/types.cpp
@@ -0,0 +1,64 @@
+/*
+ * 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::marker_pose_data
+ * @author Hawo Höfer ( uuujt at student dot kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "types.h"
+
+#include "RobotAPI/libraries/core/FramedPose.h"
+#include <RobotAPI/libraries/armem_objects/aron/Marker.aron.generated.h>
+
+#include "aron_forward_declarations.h"
+
+
+namespace armarx::armem::marker
+{
+ Marker::Marker(const std::string& name,
+ const FramedPose& framedMarkerPose,
+ const FramedPose& framedRobotPose,
+ const FramedPose& framedRGBCameraPose,
+ const FramedPose& framedDepthCameraPose) :
+ name(name),
+ robotGlobal(framedRobotPose),
+ rgbCamera(framedRGBCameraPose),
+ depthCamera(framedDepthCameraPose),
+ markerPose(framedMarkerPose)
+ {
+ markerGlobal = getGlobalMarkerPose();
+ }
+
+ Marker::Marker(const armarx::armem::arondto::Marker& dto) :
+ name(dto.name),
+ robotGlobal(dto.robotGlobal),
+ rgbCamera(dto.rgbCamera),
+ depthCamera(dto.depthCamera),
+ markerPose(dto.markerPose)
+ {
+ markerGlobal = getGlobalMarkerPose();
+ }
+ armarx::FramedPose
+ Marker::getGlobalMarkerPose() const
+ {
+ return {robotGlobal.toEigen() * depthCamera.toEigen() * markerPose.toEigen(),
+ GlobalFrame,
+ "marker"};
+ }
+
+} // namespace armarx::armem::marker
diff --git a/source/RobotAPI/libraries/armem_objects/types.h b/source/RobotAPI/libraries/armem_objects/types.h
index 5ca91ff285e5fc92d1d3523a504379d582dda8b5..c7e4fe4897c46202543e3d12628cf22e8083b0b3 100644
--- a/source/RobotAPI/libraries/armem_objects/types.h
+++ b/source/RobotAPI/libraries/armem_objects/types.h
@@ -26,6 +26,9 @@
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem_robot/types.h>
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+#include "aron_forward_declarations.h"
namespace armarx::armem::attachment
@@ -84,15 +87,39 @@ namespace armarx::armem::attachment
armem::Time timestamp;
bool active;
-
};
-} // namespace armarx::armem::attachment
+} // namespace armarx::armem::attachment
namespace armarx::armem::articulated_object
{
using ArticulatedObjectDescription = armarx::armem::robot::RobotDescription;
- using ArticulatedObject = armarx::armem::robot::Robot;
+ using ArticulatedObject = armarx::armem::robot::Robot;
using ArticulatedObjects = armarx::armem::robot::Robots;
} // namespace armarx::armem::articulated_object
+
+
+namespace armarx::armem::marker
+{
+ class Marker
+ {
+
+ public:
+ Marker(const armarx::armem::arondto::Marker& dto);
+ Marker(const std::string& name,
+ const FramedPose& markerPose,
+ const FramedPose& robotPose,
+ const FramedPose& rgbCameraPose,
+ const FramedPose& depthCameraPose);
+
+ std::string name;
+ FramedPose robotGlobal;
+ FramedPose rgbCamera;
+ FramedPose depthCamera;
+ FramedPose markerPose;
+ FramedPose markerGlobal;
+
+ FramedPose getGlobalMarkerPose() const;
+ };
+} // namespace armarx::armem::marker
diff --git a/source/RobotAPI/libraries/armem_objects/utils.cpp b/source/RobotAPI/libraries/armem_objects/utils.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e3025f5264ebcbc5a50de330cb229f792b6f421f
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/utils.cpp
@@ -0,0 +1,45 @@
+/*
+ * 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_objects
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "utils.h"
+
+#include <RobotAPI/libraries/ArmarXObjects/ObjectPose.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem_objects/memory_ids.h>
+
+
+namespace armarx::armem
+{
+
+ MemoryID
+ objects::reconstructObjectInstanceID(const objpose::ObjectPose& objectPose)
+ {
+ armem::MemoryID id =
+ armem::objects::instaceSegmentID.withProviderSegmentName(objectPose.providerName)
+ .withEntityName(objectPose.objectID.str())
+ .withTimestamp(objectPose.timestamp)
+ .withInstanceIndex(0);
+ return id;
+ }
+
+
+} // namespace armarx::armem
diff --git a/source/RobotAPI/libraries/armem_objects/utils.h b/source/RobotAPI/libraries/armem_objects/utils.h
new file mode 100644
index 0000000000000000000000000000000000000000..bc0068234ac8c55d4985d25ab17fab8040c987d7
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_objects/utils.h
@@ -0,0 +1,36 @@
+/*
+ * 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_objects
+ * @author Rainer Kartmann ( rainer dot kartmann 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/armem/core/forward_declarations.h>
+#include <RobotAPI/libraries/ArmarXObjects/forward_declarations.h>
+
+
+namespace armarx::armem::objects
+{
+
+ armem::MemoryID
+ reconstructObjectInstanceID(const objpose::ObjectPose& objectPose);
+
+
+} // namespace armarx::armem::objects
diff --git a/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt b/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
index aafe0978d9d41e95b51dfabfe49d33783e2791ea..a9c0ceb1b8cd552915819a052a2ffd73bbfdec29 100644
--- a/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_robot_state/CMakeLists.txt
@@ -38,6 +38,7 @@ armarx_add_library(
client/localization/TransformWriter.h
aron_conversions.h
+ memory_ids.h
utils.h
SOURCES
@@ -52,6 +53,7 @@ armarx_add_library(
client/localization/TransformWriter.cpp
aron_conversions.cpp
+ memory_ids.cpp
utils.cpp
)
diff --git a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
index fda00f26806d70a922b9487a008099117150d9e4..e9f7993d12a4979b496ee24b73da003e74eda1e3 100644
--- a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.cpp
@@ -1,4 +1,5 @@
#include "TransformHelper.h"
+#include <optional>
#include <string>
#include <SimoxUtility/algorithm/get_map_keys_values.h>
@@ -48,12 +49,23 @@ namespace armarx::armem::common::robot_state::localization
const std::vector<Eigen::Affine3f> transforms = _obtainTransforms(
localizationCoreSegment, tfChain, query.header.agent, query.header.timestamp);
- const armem::Time sanitizedTimestamp = _obtainTimestamp(localizationCoreSegment, query.header.timestamp);
+ const std::optional<armem::Time> sanitizedTimestamp = _obtainTimestamp(localizationCoreSegment, query.header.timestamp);
+
+ if(not sanitizedTimestamp.has_value())
+ {
+ return {.transform = {.header = query.header},
+ .status = TransformResult::Status::Error,
+ .errorMessage = "Error: Issue with timestamp"};
+ }
+
+
auto header = query.header;
+ ARMARX_CHECK(sanitizedTimestamp.has_value());
+
// ARMARX_INFO << header.timestamp << "vs" << sanitizedTimestamp;
- header.timestamp = sanitizedTimestamp;
+ header.timestamp = sanitizedTimestamp.value();
if (transforms.empty())
{
@@ -178,27 +190,43 @@ namespace armarx::armem::common::robot_state::localization
}
template <class ...Args>
- armarx::core::time::DateTime
+ std::optional<armarx::core::time::DateTime>
TransformHelper::_obtainTimestamp(const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment, const armem::Time& timestamp)
{
// first we check which the newest timestamp is
- int64_t timeSinceEpochUs = 0;
+ std::optional<int64_t> timeSinceEpochUs = std::nullopt;
localizationCoreSegment.forEachEntity([&timeSinceEpochUs, ×tamp](const auto& entity){
auto snapshot = entity.findLatestSnapshotBeforeOrAt(timestamp);
+
+ if(snapshot == nullptr)
+ {
+ return;
+ }
+
+ if(not snapshot->hasInstance(0))
+ {
+ return;
+ }
+
const armem::wm::EntityInstance& item = snapshot->getInstance(0);
const auto tf = _convertEntityToTransform(item);
const auto& dataTs = tf.header.timestamp;
- timeSinceEpochUs = std::max(timeSinceEpochUs, dataTs.toMicroSecondsSinceEpoch());
+ timeSinceEpochUs = std::max(timeSinceEpochUs.value_or(0), dataTs.toMicroSecondsSinceEpoch());
});
+ if(not timeSinceEpochUs.has_value())
+ {
+ return std::nullopt;
+ }
+
// then we ensure that the timestamp is not more recent than the query timestamp
- timeSinceEpochUs = std::min(timeSinceEpochUs, timestamp.toMicroSecondsSinceEpoch());
+ timeSinceEpochUs = std::min(timeSinceEpochUs.value(), timestamp.toMicroSecondsSinceEpoch());
- return armarx::core::time::DateTime(armarx::core::time::Duration::MicroSeconds(timeSinceEpochUs));
+ return armarx::core::time::DateTime(armarx::core::time::Duration::MicroSeconds(timeSinceEpochUs.value()));
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h
index 6e2611f7a178ba64ab3e25082b5e74a6b968dc23..80cdea39921497a5c2c369416d59115d7dffc4c5 100644
--- a/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h
+++ b/source/RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h
@@ -22,6 +22,7 @@
#pragma once
#include <vector>
+#include <optional>
#include <Eigen/Core>
#include <Eigen/Geometry>
@@ -113,7 +114,7 @@ namespace armarx::armem::common::robot_state::localization
template <class ...Args>
static
- armarx::core::time::DateTime
+ std::optional<armarx::core::time::DateTime>
_obtainTimestamp(const armem::base::CoreSegmentBase<Args...>& localizationCoreSegment, const armem::Time& timestamp);
static
diff --git a/source/RobotAPI/libraries/armem_robot_state/memory_ids.cpp b/source/RobotAPI/libraries/armem_robot_state/memory_ids.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..926c2e843e252efdc9c4711bbe2b03a3a7394bba
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_robot_state/memory_ids.cpp
@@ -0,0 +1,36 @@
+/*
+ * 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_robot_state
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2022
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "memory_ids.h"
+
+
+namespace armarx::armem
+{
+
+ const MemoryID robot_state::memoryID { "RobotState" };
+
+ const MemoryID robot_state::descriptionSegmentID { memoryID.withCoreSegmentName("Description") };
+ const MemoryID robot_state::proprioceptionSegmentID { memoryID.withCoreSegmentName("Proprioception") };
+ const MemoryID robot_state::localizationSegmentID { memoryID.withCoreSegmentName("Localization") };
+
+
+}
diff --git a/source/RobotAPI/libraries/armem_robot_state/memory_ids.h b/source/RobotAPI/libraries/armem_robot_state/memory_ids.h
new file mode 100644
index 0000000000000000000000000000000000000000..1d8008d4db8d7a71da0a8ca47420040060382ca6
--- /dev/null
+++ b/source/RobotAPI/libraries/armem_robot_state/memory_ids.h
@@ -0,0 +1,37 @@
+/*
+ * 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_robot_state
+ * @author Rainer Kartmann ( rainer dot kartmann 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/armem/core/MemoryID.h>
+
+
+namespace armarx::armem::robot_state
+{
+
+ extern const MemoryID memoryID;
+
+ extern const MemoryID descriptionSegmentID;
+ extern const MemoryID proprioceptionSegmentID;
+ extern const MemoryID localizationSegmentID;
+
+} // namespace armarx::armem::objects
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/CMakeLists.txt b/source/RobotAPI/libraries/armem_robot_state/server/CMakeLists.txt
index 848efe75e0b615f367f5602c9cdfdfb3cdbbd7ea..169d59f1a86d6a1bea1b9e54033409d23fb3cd7f 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem_robot_state/server/CMakeLists.txt
@@ -7,7 +7,7 @@ armarx_component_set_name("${LIB_NAME}")
armarx_set_target("Library: ${LIB_NAME}")
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
-
+armarx_build_if(manif_FOUND "manif not available")
armarx_add_library(
LIBS
@@ -27,6 +27,7 @@ armarx_add_library(
# System / External
Eigen3::Eigen
+ ${manif_LIBRARIES}
HEADERS
forward_declarations.h
@@ -69,5 +70,8 @@ armarx_add_library(
description/Segment.cpp
)
+if(manif_FOUND)
+ target_include_directories("${LIB_NAME}" SYSTEM PUBLIC ${manif_INCLUDE_DIR} ${manif_INCLUDE_DIRS})
+endif()
add_library(RobotAPI::armem_robot_state_server ALIAS armem_robot_state_server)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
index e68119affae5664f232dba25c679a8cce9fbdd10..1607132e51d9370e3ea746193d835f265bf529ff 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.cpp
@@ -42,8 +42,8 @@ namespace armarx::armem::server::robot_state
void Visu::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
{
- defs->optional(
- p.enabled, prefix + "enabled", "Enable or disable visualization of objects.");
+ defs->optional(p.enabled, prefix + "enabled", "Enable or disable visualization of objects.");
+ defs->optional(p.framesEnabled, prefix + "famesEnabled", "Enable or disable visualization of frames.");
defs->optional(p.frequencyHz, prefix + "frequenzyHz", "Frequency of visualization.");
}
@@ -199,10 +199,15 @@ namespace armarx::armem::server::robot_state
ARMARX_DEBUG << "Visualize " << robots.size() << " robots ...";
viz::Layer layer = arviz.layer("Robots");
visualizeRobots(layer, robots);
+ std::vector layers{layer};
ARMARX_DEBUG << "Visualize frames ...";
- viz::Layer layerFrames = arviz.layer("Frames");
- visualizeFrames(layerFrames, frames);
+ if(p.framesEnabled)
+ {
+ viz::Layer layerFrames = arviz.layer("Frames");
+ visualizeFrames(layerFrames, frames);
+ layers.push_back(layerFrames);
+ }
TIMING_END_STREAM(tVisuBuildLayers, ARMARX_DEBUG);
@@ -211,7 +216,7 @@ namespace armarx::armem::server::robot_state
ARMARX_DEBUG << "Commit visualization ...";
TIMING_START(tVisuCommit);
- arviz.commit({layer, layerFrames});
+ arviz.commit(layers);
TIMING_END_STREAM(tVisuCommit, ARMARX_DEBUG);
TIMING_END_STREAM(tVisuTotal, ARMARX_DEBUG);
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.h b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.h
index ce69772c1b1c55553c62e39d3db5e8e4503d2592..66222e0cf8dc6cf6043e6db35ebb7ba00e0cab00 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/common/Visu.h
@@ -84,6 +84,7 @@ namespace armarx::armem::server::robot_state
struct Properties
{
bool enabled = true;
+ bool framesEnabled = false;
float frequencyHz = 25;
} p;
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index f6cba1d8c22086497f7eb537c6a3e16fa2e2faf4..ec68b26342c527923fc997d94d53796e968e1083 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -20,13 +20,14 @@
#include <RobotAPI/libraries/armem_robot/aron_conversions.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/memory_ids.h>
namespace armarx::armem::server::robot_state::description
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- Base(memoryToIceAdapter, "Description", arondto::RobotDescription::ToAronType())
+ Base(memoryToIceAdapter, armem::robot_state::descriptionSegmentID.coreSegmentName, arondto::RobotDescription::ToAronType())
{
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
index dc92366e7ab6eb45468bde0a046f32b888e66a6e..3cadfeccb0a86bd6672dd1af8fc072086dca4fa4 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp
@@ -3,6 +3,11 @@
// STL
#include <iterator>
+#include <manif/SE3.h>
+
+#include <SimoxUtility/math/pose/pose.h>
+#include <SimoxUtility/math/regression/linear.h>
+
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/core/FramedPose.h>
@@ -12,6 +17,7 @@
#include <RobotAPI/libraries/armem/core/Time.h>
#include <RobotAPI/libraries/armem/core/aron_conversions.h>
#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+#include <RobotAPI/libraries/armem/util/prediction_helpers.h>
#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/robot_conversions.h>
@@ -21,13 +27,14 @@
#include <RobotAPI/libraries/armem_robot_state/common/localization/TransformHelper.h>
#include <RobotAPI/libraries/armem_robot_state/common/localization/types.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/constants.h>
+#include <RobotAPI/libraries/armem_robot_state/memory_ids.h>
namespace armarx::armem::server::robot_state::localization
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- Base(memoryToIceAdapter, "Localization", arondto::Transform::ToAronType(), 1024)
+ Base(memoryToIceAdapter, armem::robot_state::localizationSegmentID.coreSegmentName, arondto::Transform::ToAronType(), 1024)
{
}
@@ -36,6 +43,24 @@ namespace armarx::armem::server::robot_state::localization
{
}
+ void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ {
+ Base::defineProperties(defs, prefix);
+
+ defs->optional(properties.predictionTimeWindow,
+ "prediction.TimeWindow",
+ "Duration of time window into the past to use for predictions"
+ " when requested via the PredictingMemoryInterface (in seconds).");
+ }
+
+ void Segment::init()
+ {
+ Base::init();
+
+ segmentPtr->addPredictor(armem::PredictionEngine{.engineID = "Linear"},
+ [this](const PredictionRequest& request){ return this->predictLinear(request); });
+ }
+
void Segment::onConnect()
{
@@ -171,4 +196,78 @@ namespace armarx::armem::server::robot_state::localization
return update;
}
+
+ PredictionResult Segment::predictLinear(const PredictionRequest& request)
+ {
+ PredictionResult result;
+ result.snapshotID = request.snapshotID;
+ if (request.predictionSettings.predictionEngineID != "Linear")
+ {
+ result.success = false;
+ result.errorMessage = "Prediction engine " +
+ request.predictionSettings.predictionEngineID +
+ " is not supported in Proprioception.";
+ return result;
+ }
+
+ static const int tangentDims = 6;
+ using Vector6d = Eigen::Matrix<double, tangentDims, 1>;
+
+ const DateTime timeOrigin = DateTime::Now();
+ const armarx::Duration timeWindow =
+ Duration::SecondsDouble(properties.predictionTimeWindow);
+ SnapshotRangeInfo<Vector6d, arondto::Transform> info;
+
+ doLocked(
+ [&, this]()
+ {
+ info = getSnapshotsInRange<server::wm::CoreSegment, Vector6d, arondto::Transform>(
+ segmentPtr,
+ request.snapshotID,
+ timeOrigin - timeWindow,
+ timeOrigin,
+ [](const aron::data::DictPtr& data)
+ {
+ Eigen::Matrix4d mat =
+ arondto::Transform::FromAron(data).transform.cast<double>();
+ manif::SE3d se3(simox::math::position(mat),
+ Eigen::Quaterniond(simox::math::orientation(mat)));
+ return se3.log().coeffs();
+ },
+ [](const aron::data::DictPtr& data)
+ { return arondto::Transform::FromAron(data); });
+ });
+
+ if (info.success)
+ {
+ Eigen::Matrix4f prediction;
+ if (info.timestampsSec.size() <= 1)
+ {
+ prediction = info.latestValue.transform;
+ }
+ else
+ {
+ using simox::math::LinearRegression;
+ const bool inputOffset = false;
+ const LinearRegression<tangentDims> model = LinearRegression<tangentDims>::Fit(
+ info.timestampsSec, info.values, inputOffset);
+ const auto predictionTime = request.snapshotID.timestamp;
+ Vector6d linearPred =
+ model.predict((predictionTime - timeOrigin).toSecondsDouble());
+ prediction = manif::SE3Tangentd(linearPred).exp().transform().cast<float>();
+ }
+
+ info.latestValue.transform = prediction;
+ result.success = true;
+ result.prediction = info.latestValue.toAron();
+ }
+ else
+ {
+ result.success = false;
+ result.errorMessage = info.errorMessage;
+ }
+
+ return result;
+ }
+
} // namespace armarx::armem::server::robot_state::localization
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.h b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.h
index ba7138fd0c8a4bbe6467ebc00c68e3e743643f29..0f1fe71345bf1d2767f5cfc7b0c268e1f41e7eba 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.h
@@ -49,6 +49,9 @@ namespace armarx::armem::server::robot_state::localization
Segment(server::MemoryToIceAdapter& iceMemory);
virtual ~Segment() override;
+ void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override;
+
+ void init() override;
void onConnect();
@@ -67,6 +70,13 @@ namespace armarx::armem::server::robot_state::localization
EntityUpdate makeUpdate(const armem::robot_state::Transform& transform) const;
+ PredictionResult predictLinear(const PredictionRequest& request);
+
+ struct Properties
+ {
+ double predictionTimeWindow = 2;
+ };
+ Properties properties;
};
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index ca9e43ed9d4a7022dd4c6a4eecba530e81bf7b21..99c330e7661d35c5b161c26e1d18b45af2d91ce9 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -1,5 +1,7 @@
#include "Segment.h"
+#include <SimoxUtility/math/regression/linear.hpp>
+
#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
#include <ArmarXCore/core/logging/Logging.h>
@@ -9,19 +11,43 @@
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/util/prediction_helpers.h>
#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/memory_ids.h>
namespace armarx::armem::server::robot_state::proprioception
{
Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter) :
- Base(memoryToIceAdapter, "Proprioception", arondto::Proprioception::ToAronType(), 1024)
+ Base(memoryToIceAdapter,
+ armem::robot_state::proprioceptionSegmentID.coreSegmentName,
+ arondto::Proprioception::ToAronType(),
+ 1024)
{
}
Segment::~Segment() = default;
+ void
+ Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+ {
+ Base::defineProperties(defs, prefix);
+
+ defs->optional(properties.predictionTimeWindow,
+ "prediction.TimeWindow",
+ "Duration of time window into the past to use for predictions"
+ " when requested via the PredictingMemoryInterface (in seconds).");
+ }
+
+ void Segment::init()
+ {
+ Base::init();
+
+ segmentPtr->addPredictor(
+ armem::PredictionEngine{.engineID = "Linear"},
+ [this](const PredictionRequest& request) { return this->predictLinear(request); });
+ }
void Segment::onConnect(RobotUnitInterfacePrx robotUnitPrx)
{
@@ -129,6 +155,127 @@ namespace armarx::armem::server::robot_state::proprioception
return robotUnitProviderID;
}
+ Eigen::VectorXd readJointData(const wm::EntityInstanceData& data)
+ {
+ namespace adn = aron::data;
+
+ std::vector<double> values;
+
+ auto addData =
+ [&](adn::DictPtr dict) // NOLINT
+ {
+ for (const auto& [name, value] : dict->getElements())
+ {
+ values.push_back(
+ static_cast<double>(adn::Float::DynamicCastAndCheck(value)->getValue()));
+ }
+ };
+
+ if (adn::DictPtr joints = getDictElement(data, "joints"))
+ {
+ if (adn::DictPtr jointsPosition = getDictElement(*joints, "position"))
+ {
+ addData(jointsPosition);
+ }
+ if (adn::DictPtr jointsVelocity = getDictElement(*joints, "velocity"))
+ {
+ addData(jointsVelocity);
+ }
+ if (adn::DictPtr jointsTorque = getDictElement(*joints, "torque"))
+ {
+ addData(jointsTorque);
+ }
+ }
+ Eigen::VectorXd vec =
+ Eigen::Map<Eigen::VectorXd>(values.data(), static_cast<Eigen::Index>(values.size()));
+ return vec;
+ }
+
+ void
+ emplaceJointData(const Eigen::VectorXd& jointData,
+ arondto::Proprioception& dataTemplate)
+ {
+ Eigen::Index row = 0;
+ for (auto& [joint, value] : dataTemplate.joints.position)
+ {
+ value = static_cast<float>(jointData(row++));
+ }
+ for (auto& [joint, value] : dataTemplate.joints.velocity)
+ {
+ value = static_cast<float>(jointData(row++));
+ }
+ for (auto& [joint, value] : dataTemplate.joints.torque)
+ {
+ value = static_cast<float>(jointData(row++));
+ }
+ }
+
+ armem::PredictionResult
+ Segment::predictLinear(const armem::PredictionRequest& request) const
+ {
+ PredictionResult result;
+ result.snapshotID = request.snapshotID;
+ if (request.predictionSettings.predictionEngineID != "Linear")
+ {
+ result.success = false;
+ result.errorMessage = "Prediction engine " +
+ request.predictionSettings.predictionEngineID +
+ " is not supported in Proprioception.";
+ return result;
+ }
+
+ const DateTime timeOrigin = DateTime::Now();
+ const armarx::Duration timeWindow = Duration::SecondsDouble(properties.predictionTimeWindow);
+ SnapshotRangeInfo<Eigen::VectorXd, aron::data::DictPtr> info;
+
+ doLocked(
+ // Default capture because the number of variables was getting out of hand
+ [&, this]()
+ {
+ info = getSnapshotsInRange<server::wm::CoreSegment,
+ Eigen::VectorXd,
+ aron::data::DictPtr>(
+ segmentPtr,
+ request.snapshotID,
+ timeOrigin - timeWindow,
+ timeOrigin,
+ [](const aron::data::DictPtr& data) { return readJointData(*data); },
+ [](const aron::data::DictPtr& data) { return data; });
+ });
+
+ if (info.success)
+ {
+ Eigen::VectorXd latestJoints = readJointData(*info.latestValue);
+ Eigen::VectorXd prediction(latestJoints.size());
+ if (info.timestampsSec.size() <= 1)
+ {
+ prediction = latestJoints;
+ }
+ else
+ {
+ using simox::math::LinearRegression;
+ const bool inputOffset = false;
+ const LinearRegression model = LinearRegression<Eigen::Dynamic>::Fit(
+ info.timestampsSec, info.values, inputOffset);
+ const auto predictionTime = request.snapshotID.timestamp;
+ prediction = model.predict((predictionTime - timeOrigin).toSecondsDouble());
+ }
+
+ arondto::Proprioception templateData =
+ arondto::Proprioception::FromAron(info.latestValue);
+ emplaceJointData(prediction, templateData);
+ result.success = true;
+ result.prediction = templateData.toAron();
+ }
+ else
+ {
+ result.success = false;
+ result.errorMessage = info.errorMessage;
+ }
+
+ return result;
+ }
+
std::map<std::string, float>
Segment::readJointPositions(const wm::EntityInstanceData& data)
@@ -151,4 +298,4 @@ namespace armarx::armem::server::robot_state::proprioception
return jointPositions;
}
-} // namespace armarx::armem::server::robot_state::proprioception
+} // namespace armarx::armem::server::robot_state::proprioception
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h
index 808fbd7905c1ec6e44e51296ea959e7e3af755d5..8123aea55ea50a11d02b8bf1d50aee0fbe5b09dc 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.h
@@ -32,6 +32,7 @@
// RobotAPI
#include <RobotAPI/libraries/armem/core/MemoryID.h>
+#include <RobotAPI/libraries/armem/core/Prediction.h>
#include <RobotAPI/libraries/armem/server/segment/SpecializedCoreSegment.h>
#include <RobotAPI/libraries/armem/server/segment/SpecializedProviderSegment.h>
#include <RobotAPI/libraries/armem_robot_state/server/forward_declarations.h>
@@ -52,6 +53,10 @@ namespace armarx::armem::server::robot_state::proprioception
Segment(server::MemoryToIceAdapter& iceMemory);
virtual ~Segment() override;
+ void defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix = "") override;
+
+ void init() override;
+
void onConnect(RobotUnitInterfacePrx robotUnitPrx);
@@ -62,6 +67,8 @@ namespace armarx::armem::server::robot_state::proprioception
const armem::MemoryID& getRobotUnitProviderID() const;
+ armem::PredictionResult predictLinear(const armem::PredictionRequest& request) const;
+
private:
@@ -75,6 +82,12 @@ namespace armarx::armem::server::robot_state::proprioception
RobotUnitInterfacePrx robotUnit;
armem::MemoryID robotUnitProviderID;
+ struct Properties
+ {
+ double predictionTimeWindow = 2;
+ };
+ Properties properties;
+
// Debug Observer prefix
const std::string dp = "Proprioception::getRobotJointPositions() | ";
diff --git a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
index b84f79b64e878a53828d95ff70ec6c586da0113b..84b9840794dbd1a618b51e5219732924949c1b8e 100644
--- a/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
+++ b/source/RobotAPI/libraries/armem_skills/aron/Skill.xml
@@ -49,7 +49,7 @@ The memory should look like the following:
<String />
</ObjectChild>
- <ObjectChild key='clientId'>
+ <ObjectChild key='executorName'>
<String />
</ObjectChild>
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
index 0181e2729c0ac1ff1f70ac433d73c298da5272c8..51c72a4caa79ca48823dc06670d90989cf2c2d07 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillEventSegment.cpp
@@ -39,8 +39,8 @@ namespace armarx::skills::segment
// create commit about new update
armarx::skills::arondto::SkillExecutionEvent event;
- event.providerName = update.header.providerName;
- event.skillName = update.header.skillName;
+ event.providerName = update.header.skillId.providerName;
+ event.skillName = update.header.skillId.skillName;
event.status = ExecutionStatus2String.at(update.header.status);
event.params = aron::data::Dict::FromAronDictDTO(update.header.usedParams);
event.data = aron::data::Dict::FromAronDictDTO(update.data);
diff --git a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
index 8a60cb6689e79231e2b0ceb046bc2832899f29a6..f8333282e1c09b206ef8829cbda44c64bde470ec 100644
--- a/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
+++ b/source/RobotAPI/libraries/armem_skills/server/segment/SkillExecutionRequestSegment.cpp
@@ -37,8 +37,7 @@ namespace armarx::skills::segment
request.fromAron(commitDataAron);
skills::manager::dto::SkillExecutionRequest info;
- info.providerName = request.providerName;
- info.skillName = request.skillName;
+ info.skillId = {request.providerName, request.skillName};
info.params = request.params->toAronDictDTO();
return info;
}
@@ -48,24 +47,41 @@ namespace armarx::skills::segment
{
// override directly execution to add a request to the memory
armem::Commit comm;
- auto& entityUpdate = comm.add();
skills::arondto::SkillExecutionRequest request;
- request.clientId = "";
- request.providerName = info.providerName;
- request.skillName = info.skillName;
+ request.executorName = info.executorName;
+ request.providerName = info.skillId.providerName;
+ request.skillName = info.skillId.skillName;
request.params = aron::data::Dict::FromAronDictDTO(info.params);
auto aron = request.toAron();
- armem::MemoryID skillExecutionMemID = id();
- skillExecutionMemID.providerSegmentName = request.providerName;
- skillExecutionMemID.entityName = request.skillName;
+ {
+ auto& entityUpdate = comm.add();
+
+ armem::MemoryID skillExecutionMemID = id();
+ skillExecutionMemID.providerSegmentName = request.providerName;
+ skillExecutionMemID.entityName = request.skillName;
+
+ entityUpdate.entityID = skillExecutionMemID;
+ entityUpdate.instancesData = { aron };
+ entityUpdate.confidence = 1.0;
+ entityUpdate.timeCreated = armem::Time::Now();
+ }
+
+ {
+ auto& entityUpdate = comm.add();
+
+ armem::MemoryID skillExecutionMemID = id();
+ skillExecutionMemID.providerSegmentName = "All Skill Execution Requests";
+ skillExecutionMemID.entityName = "All Skill Execution Requests";
+
+ entityUpdate.entityID = skillExecutionMemID;
+ entityUpdate.instancesData = { aron };
+ entityUpdate.confidence = 1.0;
+ entityUpdate.timeCreated = armem::Time::Now();
+ }
- entityUpdate.entityID = skillExecutionMemID;
- entityUpdate.instancesData = { aron };
- entityUpdate.confidence = 1.0;
- entityUpdate.timeCreated = armem::Time::Now();
iceMemory.commit(comm);
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
index 8cdd98da4fd8d151225f671bc0ed4c5e3c2ef0cf..add1b800c01ad8186008d55574559e0705527a4b 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/Generator.cpp
@@ -209,7 +209,7 @@ namespace armarx::aron::codegenerator::cpp
doc << "@brief writeType() - This method returns a new type from the class structure using a type writer implementation. This function is static. \n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod("template<class WriterT>\nstatic typename WriterT::ReturnType writeType(WriterT& " + ARON_WRITER_ACCESSOR + ", std::vector<std::string> " + ARON_TEMPLATE_INSTANTIATIONS_ACCESSOR + " = {}, armarx::aron::type::Maybe "+ ARON_MAYBE_TYPE_ACCESSOR +" = armarx::aron::type::Maybe::NONE, const armarx::aron::Path& "+ARON_PATH_ACCESSOR+" = armarx::aron::Path())", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("template<class WriterT>\nstatic typename WriterT::ReturnType writeType(WriterT& " + ARON_WRITER_ACCESSOR + ", std::vector<std::string> " + ARON_TEMPLATE_INSTANTIATIONS_ACCESSOR + " = {}, armarx::aron::type::Maybe "+ ARON_MAYBE_TYPE_ACCESSOR +" = ::armarx::aron::type::Maybe::NONE, const ::armarx::aron::Path& "+ARON_PATH_ACCESSOR+" = ::armarx::aron::Path())", doc.str()));
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("using _Aron_T [[maybe_unused]] = typename WriterT::ReturnType;");
@@ -226,12 +226,16 @@ namespace armarx::aron::codegenerator::cpp
doc << "@param w - The writer implementation\n";
doc << "@return - the result of the writer implementation";
- CppMethodPtr m = CppMethodPtr(new CppMethod("template<class WriterT>\ntypename WriterT::ReturnType write(WriterT& " + ARON_WRITER_ACCESSOR + ", const armarx::aron::Path& "+ARON_PATH_ACCESSOR+" = armarx::aron::Path()) const", doc.str()));
+ CppMethodPtr m = CppMethodPtr(new CppMethod("template<class WriterT>\ntypename WriterT::ReturnType write(WriterT& " + ARON_WRITER_ACCESSOR + ", const ::armarx::aron::Path& "+ARON_PATH_ACCESSOR+" = armarx::aron::Path()) const", doc.str()));
CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("using _Aron_T [[maybe_unused]] = typename WriterT::ReturnType;");
+ b->addLine("try");
std::string dummy;
- b->appendBlock(this->getWriteBlock("", Path(), dummy));
+ b->addBlock(this->getWriteBlock("", Path(), dummy));
+ b->addLine("catch(const std::exception& " + ARON_VARIABLE_PREFIX + "_e)");
+ b->addLineAsBlock("throw ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, std::string(\"An error occured during the write method of an aron generated class. The full error log was:\\n\") + " + ARON_VARIABLE_PREFIX + "_e.what());");
+
m->setBlock(b);
return m;
}
@@ -250,8 +254,12 @@ namespace armarx::aron::codegenerator::cpp
b->addLine("this->resetSoft();");
b->addLine("if (" + ARON_READER_ACCESSOR + ".readNull(input))");
- b->addLineAsBlock("throw armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"The input to the read method must not be null.\");");
- b->appendBlock(this->getReadBlock("", "input"));
+ b->addLineAsBlock("throw ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, \"The input to the read method must not be null.\");");
+
+ b->addLine("try");
+ b->addBlock(this->getReadBlock("", "input"));
+ b->addLine("catch(const std::exception& " + ARON_VARIABLE_PREFIX + "_e)");
+ b->addLineAsBlock("throw ::armarx::aron::error::AronException(__PRETTY_FUNCTION__, std::string(\"An error occured during the read method of an aron generated class. The full error log was:\\n\") + " + ARON_VARIABLE_PREFIX + "_e.what());");
m->setBlock(b);
return m;
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
index b81341ae2bf19f38cbb9928eafdbf9d3f0f9ffe5..e3c2913dd52b5924ea7d02f9c5a402626788f7e2 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/any/AnyObject.cpp
@@ -59,7 +59,7 @@ namespace armarx::aron::codegenerator::cpp::generator
std::string escaped_accessor = this->EscapeAccessor(cppAccessor);
variantAccessor = Generator::ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
- block_if_data->addLine(variantAccessor + " = armarx::aron::data::readAndWrite<armarx::aron::data::FromVariantConverter<WriterT>>(" + cppAccessor + "); // of " + cppAccessor);
+ block_if_data->addLine(variantAccessor + " = ::armarx::aron::data::readAndWrite<::armarx::aron::data::FromVariantConverter<WriterT>>(" + cppAccessor + "); // of " + cppAccessor);
return block_if_data;
}
@@ -69,7 +69,7 @@ namespace armarx::aron::codegenerator::cpp::generator
auto block_if_data = std::make_shared<CppBlock>();
std::string escaped_accessor = this->EscapeAccessor(cppAccessor);
- block_if_data->addLine(cppAccessor + " = armarx::aron::data::Dict::DynamicCastAndCheck(armarx::aron::data::readAndWrite<aron::data::ToVariantConverter<ReaderT>>(" + variantAccessor + ")); // of " + cppAccessor);
+ block_if_data->addLine(cppAccessor + " = ::armarx::aron::data::Dict::DynamicCastAndCheck(::armarx::aron::data::readAndWrite<::armarx::aron::data::ToVariantConverter<ReaderT>>(" + variantAccessor + ")); // of " + cppAccessor);
return block_if_data;
}
@@ -81,7 +81,7 @@ namespace armarx::aron::codegenerator::cpp::generator
variantAccessor = ARON_VARIANT_RETURN_ACCESSOR + "_" + escaped_accessor;
b->addLine("auto " + variantAccessor + " = " + ARON_WRITER_ACCESSOR + ".writeAnyObject(" + conversion::Maybe2CppString.at(type.getMaybe()) + ", " +
- "armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + typeAccessor);
+ "::armarx::aron::Path("+ARON_PATH_ACCESSOR+", {"+simox::alg::join(p.getPath(), ", ")+"})); // of " + typeAccessor);
return b;
}
}
diff --git a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
index 6c3717520d48ee01a83a31d76769e8b6dd273f69..c1c77424ba3d97dc217bd846bb1335023761fa2a 100644
--- a/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/codegeneration/codegenerator/codewriter/cpp/generator/toplevel/IntEnumClass.cpp
@@ -103,8 +103,12 @@ namespace armarx::aron::codegenerator::cpp::generator
CppBlockPtr b = std::make_shared<CppBlock>();
- b->addLine("//TODO: ");
- b->addLine("std::map<std::string, int> " + INT_ENUM_VALUE_MAP + ";");
+ std::vector<std::string> map_initializer;
+ for (const auto& [key, value] : type.getAcceptedValueMap())
+ {
+ map_initializer.push_back("{\"" + key + "\", " + std::to_string(value) + "}");
+ }
+ b->addLine("std::map<std::string, int> " + INT_ENUM_VALUE_MAP + " = {" + simox::alg::to_string(map_initializer, ", ") + "};");
b->addLine("return " + ARON_WRITER_ACCESSOR + ".writeIntEnum(\"" + type.getEnumName() + "\", " +
INT_ENUM_VALUE_MAP + ", " +
ARON_MAYBE_TYPE_ACCESSOR + ", " +
diff --git a/source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h b/source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h
index 6c45ffbdb7400b4d3bbc365559c3fa6563e1fd89..9d83042a1ce7e0254c827350a87d515f05761665 100644
--- a/source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h
+++ b/source/RobotAPI/libraries/aron/converter/eigen/EigenConverter.h
@@ -135,6 +135,16 @@ namespace armarx::aron::converter
}
}
+ template<typename T>
+ static data::NDArrayPtr ConvertFromQuaternion(
+ const Eigen::Quaternion<T>& quat)
+ {
+ data::NDArrayPtr ndArr(new data::NDArray);
+ ndArr->setShape({1, 4});
+ ndArr->setData(sizeof(T) * 4, reinterpret_cast <const unsigned char* >(quat.coeffs().data()));
+
+ return ndArr;
+ }
template<typename T>
static data::NDArrayPtr ConvertFromMatrix(
@@ -148,6 +158,18 @@ namespace armarx::aron::converter
return ndArr;
}
+ template<typename T, int Rows = Eigen::Dynamic, int Cols = Eigen::Dynamic>
+ static data::NDArrayPtr ConvertFromMatrix(
+ const Eigen::Matrix < T, Rows, Cols >& mat)
+ {
+ data::NDArrayPtr ndArr(new data::NDArray);
+
+ ndArr->setShape({Rows, Cols});
+ ndArr->setData(sizeof(T) * mat.size(), reinterpret_cast <const unsigned char* >(mat.data()));
+
+ return ndArr;
+ }
+
// Eigen::Array
diff --git a/source/RobotAPI/libraries/aron/core/data/variant/detail/PrimitiveVariant.h b/source/RobotAPI/libraries/aron/core/data/variant/detail/PrimitiveVariant.h
index 849d146d5c398966f4328f03ffd1f0d286488877..ad4ad2eac47f0fdded2b6dbc3f9bfdc6b61c3226 100644
--- a/source/RobotAPI/libraries/aron/core/data/variant/detail/PrimitiveVariant.h
+++ b/source/RobotAPI/libraries/aron/core/data/variant/detail/PrimitiveVariant.h
@@ -115,5 +115,10 @@ namespace armarx::aron::data::detail
{
return this->aron->value;
}
+
+ ValueT& getValue()
+ {
+ return this->aron->value;
+ }
};
}
diff --git a/source/RobotAPI/libraries/aron_component_config/CMakeLists.txt b/source/RobotAPI/libraries/aron_component_config/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b6b176ca9b2e9d303251db890ab28939ac1544b
--- /dev/null
+++ b/source/RobotAPI/libraries/aron_component_config/CMakeLists.txt
@@ -0,0 +1,60 @@
+#armarx_add_library(AronComponentConfig
+# DEPENDENCIES
+# ArmarXCoreInterfaces ArmarXCore ArmarXGuiComponentPlugins
+# RobotAPIInterfaces RobotAPICore RobotAPIComponentPlugins
+# SOURCES
+# PropertyDefinitionVisitors.cpp
+# RemoteGuiVisitors.cpp
+# HEADERS
+# PropertyDefinitionVisitors.h
+# RemoteGui.h
+# RemoteGuiVisitors.h
+# Util.h
+# ComponentPlugin.h
+# )
+
+set(LIB_NAME aron_component_config)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+find_package(Simox QUIET)
+armarx_build_if(Simox_FOUND "Simox not available")
+
+set(LIBS
+ ArmarXCoreInterfaces ArmarXCore ArmarXGuiComponentPlugins
+ RobotAPIInterfaces RobotAPICore RobotAPIComponentPlugins aroneigenconverter
+)
+
+set(LIB_FILES
+ PropertyDefinitionVisitors.cpp
+ RemoteGuiVisitors.cpp
+ VariantHelperFactory.cpp
+)
+
+set(LIB_HEADERS
+ PropertyDefinitionVisitors.h
+ RemoteGui.h
+ RemoteGuiVisitors.h
+ Util.h
+ ComponentPlugin.h
+ VariantHelperFactory.h
+)
+
+
+armarx_add_library(
+ LIB_NAME
+ "${LIB_NAME}"
+ SOURCES
+ "${LIB_FILES}"
+ HEADERS
+ "${LIB_HEADERS}"
+ LIBS
+ "${LIBS}"
+)
+
+add_library(
+ RobotAPI::aron_component_config
+ ALIAS
+ aron_component_config
+)
diff --git a/source/RobotAPI/libraries/aron_component_config/ComponentPlugin.h b/source/RobotAPI/libraries/aron_component_config/ComponentPlugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..ae144f245b15cd28cdf0eee59245d7b9d8a94b28
--- /dev/null
+++ b/source/RobotAPI/libraries/aron_component_config/ComponentPlugin.h
@@ -0,0 +1,110 @@
+/*
+ * 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 robdekon
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 07.09.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <experimental/memory>
+#include <ArmarXCore/core/ManagedIceObject.h>
+#include <ArmarXCore/core/ComponentPlugin.h>
+#include <RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h>
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/RemoteGuiComponentPlugin.h>
+#include <RobotAPI/libraries/aron/core/data/visitor/RecursiveVisitor.h>
+#include "PropertyDefinitionVisitors.h"
+#include "RemoteGui.h"
+
+
+namespace armarx::plugins
+{
+ template <typename T> concept isAronGenerated = std::is_base_of<armarx::aron::cpp::AronGeneratedClass, T>::value;
+
+ template <typename AronStructT>
+ requires isAronGenerated<AronStructT>
+ class AronComponentConfigPlugin : public ComponentPlugin
+ {
+ protected:
+ void preOnInitComponent() override
+ {
+ armarx::aron::component_config::PropertyDefinitionGetterVisitor vis(parent<armarx::PropertyUser>());
+ auto data = std::static_pointer_cast<armarx::aron::data::Variant>(config_.getUpToDateReadBuffer().toAron());
+ auto type = config_.getUpToDateReadBuffer().ToAronType();
+ armarx::aron::data::visitRecursive(vis, data, type);
+ config_.getWriteBuffer().fromAron(std::static_pointer_cast<armarx::aron::data::Dict>(data));
+ config_.commitWrite();
+ ManagedIceObjectPlugin::preOnInitComponent();
+ }
+
+ void postOnInitComponent() override
+ {
+ ManagedIceObjectPlugin::postOnInitComponent();
+ }
+
+ void preOnConnectComponent() override
+ {
+ ManagedIceObjectPlugin::preOnConnectComponent();
+ }
+
+ void postOnConnectComponent() override
+ {
+ ManagedIceObjectPlugin::postOnConnectComponent();
+ }
+
+ void postOnDisconnectComponent() override
+ {
+ ManagedIceObjectPlugin::postOnDisconnectComponent();
+ }
+
+ void postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties) override
+ {
+ armarx::aron::component_config::PropertyDefinitionSetterVisitor vis(properties);
+ const auto& config = config_.getUpToDateReadBuffer();
+ armarx::aron::data::visitRecursive(vis, config.toAron(), config.ToAronType());
+ ComponentPlugin::postCreatePropertyDefinitions(properties);
+ }
+
+ public:
+ RemoteGui::detail::GroupBoxBuilder buildRemoteGui(const std::string& name)
+ {
+ return RemoteGui::makeConfigGui(name, config_.getUpToDateReadBuffer());
+ }
+
+ bool updateRemoteGui(armarx::RemoteGui::TabProxy& prx) // prx has to be already updated; otherwise nothing will change
+ {
+ ARMARX_TRACE;
+ armarx::aron::component_config::GetValueFromMapVisitor vis(&prx);
+ auto& cfg = config_.getWriteBuffer();
+ auto data = std::static_pointer_cast<armarx::aron::data::Variant>(cfg.toAron());
+ auto type = cfg.ToAronType();
+ armarx::aron::data::visitRecursive(vis, data, type);
+ cfg.fromAron(std::static_pointer_cast<armarx::aron::data::Dict>(data));
+ config_.commitWrite();
+ return vis.tabRebuildRequired();
+ }
+
+ AronComponentConfigPlugin(ManagedIceObject& parent, const std::string& prefix) : ComponentPlugin(parent, prefix)
+ {
+
+ }
+
+ armarx::WriteBufferedTripleBuffer<AronStructT> config_;
+
+ };
+}
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp b/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c8a21c747d81c4465a1c85281da518f4905001e6
--- /dev/null
+++ b/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.cpp
@@ -0,0 +1,338 @@
+/*
+ * 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 robdekon
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 06.09.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "PropertyDefinitionVisitors.h"
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/application/properties/PropertyDefinition.h>
+#include <ArmarXCore/core/application/properties/PropertyUser.h>
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron_component_config/VariantHelperFactory.h>
+
+#include "Util.h"
+
+#define INPUT_GUARD(i) \
+ARMARX_CHECK_NOT_NULL(i); \
+if (in_list_) return;
+
+namespace armarx::aron::component_config
+{
+
+ void
+ PropertyDefinitionGetterVisitor::visitInt(DataInput& i, TypeInput& elementType)
+ {
+ INPUT_GUARD(i);
+ auto value = data::Int::DynamicCastAndCheck(i);
+ auto name = pathToName(i);
+ property_user_->getProperty(value->getValue(), name);
+ }
+
+ void
+ PropertyDefinitionGetterVisitor::visitFloat(DataInput& f, TypeInput& elementType)
+ {
+ INPUT_GUARD(f);
+ auto value = data::Float::DynamicCastAndCheck(f);
+ auto name = pathToName(f);
+ property_user_->getProperty(value->getValue(), name);
+ }
+
+ void
+ PropertyDefinitionGetterVisitor::visitDouble(DataInput& d, TypeInput& elementType)
+ {
+ INPUT_GUARD(d);
+ auto value = data::Double::DynamicCastAndCheck(d);
+ auto name = pathToName(d);
+ property_user_->getProperty(value->getValue(), name);
+ }
+
+ void
+ PropertyDefinitionGetterVisitor::visitBool(DataInput& b, TypeInput& elementType)
+ {
+ INPUT_GUARD(b);
+ auto value = data::Bool::DynamicCastAndCheck(b);
+ auto name = pathToName(b);
+ property_user_->getProperty(value->getValue(), name);
+ }
+
+ void
+ PropertyDefinitionGetterVisitor::visitString(DataInput& string, TypeInput& elementType)
+ {
+ INPUT_GUARD(string);
+ auto value = data::String::DynamicCastAndCheck(string);
+ auto name = pathToName(string);
+ auto property = property_user_->getProperty<std::string>(name);
+ if (not property.getValue().empty()){
+ value->getValue() = property.getValueAndReplaceAllVars();
+ } else
+ {
+ value->getValue() = "";
+ }
+ }
+
+ void
+ PropertyDefinitionGetterVisitor::visitListOnEnter(DataInput& o, TypeInput& t)
+ {
+ in_list_ = true;
+ const auto& name = pathToName(o);
+ const auto& type = type::List::DynamicCast(t)->getAcceptedType()->getDescriptor();
+ if (std::find(implementedListDescriptors.begin(), implementedListDescriptors.end(), type) ==
+ implementedListDescriptors.end())
+ {
+ return;
+ }
+ auto old_list = data::List::DynamicCast(o);
+ old_list->clear();
+ auto get_list = [this, & name]() -> std::vector<std::string>
+ {
+ std::string list;
+ property_user_->getProperty(list, name);
+ return simox::alg::split(list, ",");
+ };
+ int i = 0;
+ std::vector<std::string> vector = get_list();
+ std::for_each(vector.begin(), vector.end(), [&old_list, &i, &type](const auto& el)
+ {
+ old_list->addElement(factories::VariantHelper::make(type)->from_string(el,
+ old_list->getPath()
+ .withIndex(i)));
+ i++;
+ });
+
+ }
+
+ void
+ PropertyDefinitionGetterVisitor::visitListOnExit(DataInput& o, TypeInput& t)
+ {
+ in_list_ = false;
+ }
+
+ void
+ PropertyDefinitionGetterVisitor::visitIntEnum(DataInput& enumData, TypeInput& elementType)
+ {
+ auto data = data::Int::DynamicCastAndCheck(enumData);
+ auto name = pathToName(enumData);
+ property_user_->getProperty(data->getValue(), name);
+ }
+
+ void
+ PropertyDefinitionGetterVisitor::visitUnknown(DataInput& unknown, TypeInput& elementType)
+ {
+ ARMARX_WARNING << "Unknown data encountered: " << (unknown ? unknown->getFullName() : "nullptr");
+ }
+
+ PropertyDefinitionGetterVisitor::PropertyDefinitionGetterVisitor(const armarx::PropertyUser& defs) :
+ property_user_(std::experimental::make_observer(&defs)), in_list_(false)
+ {
+
+ }
+
+ void
+ PropertyDefinitionGetterVisitor::visitDictOnEnter(std::shared_ptr<data::Variant>& o,
+ const std::shared_ptr<type::Variant>& t)
+ {
+ in_list_ = true;
+ const auto& name = pathToName(o);
+ const auto& type = type::Dict::DynamicCast(t)->getAcceptedType()->getDescriptor();
+ if (std::find(implementedListDescriptors.begin(), implementedListDescriptors.end(), type) ==
+ implementedListDescriptors.end())
+ {
+ return;
+ }
+ auto old_dict = data::Dict::DynamicCast(o);
+ old_dict->clear();
+ auto get_list = [this, & name]() -> std::vector<std::string>
+ {
+ std::string list;
+ property_user_->getProperty(list, name);
+ return simox::alg::split(list, ",");
+ };
+ std::vector<std::string> vector = get_list();
+ std::for_each(vector.begin(), vector.end(), [&old_dict, &type](const auto& el)
+ {
+ auto key_value = simox::alg::split(el, ":");
+ old_dict->addElement(key_value.front(),
+ factories::VariantHelper::make(type)->from_string(key_value.back(),
+ old_dict->getPath()
+ .withElement(key_value.front())));
+ });
+ }
+
+ void
+ PropertyDefinitionGetterVisitor::visitDictOnExit(std::shared_ptr<data::Variant>& elementData,
+ const std::shared_ptr<type::Variant>& elementType)
+ {
+ in_list_ = false;
+ }
+
+ PropertyDefinitionGetterVisitor::MapElements
+ PropertyDefinitionGetterVisitor::getObjectElements(DataInput& o, TypeInput& t)
+ {
+ return component_config::getObjectElements(o, t);
+ }
+
+ PropertyDefinitionGetterVisitor::MapElements
+ PropertyDefinitionGetterVisitor::getDictElements(DataInput& o, TypeInput& t)
+ {
+ return component_config::getDictElements(o, t);
+ }
+
+ PropertyDefinitionGetterVisitor::ListElements
+ PropertyDefinitionGetterVisitor::getListElements(DataInput& o, TypeInput& t)
+ {
+ return component_config::getListElements(o, t);
+ }
+
+ PropertyDefinitionGetterVisitor::PairElements
+ PropertyDefinitionGetterVisitor::getPairElements(DataInput& o, TypeInput& t)
+ {
+ return component_config::getPairElements(o, t);
+ }
+
+ PropertyDefinitionGetterVisitor::TupleElements
+ PropertyDefinitionGetterVisitor::getTupleElements(DataInput& o, TypeInput& t)
+ {
+ return component_config::getTupleElements(o, t);
+ }
+
+ type::Descriptor
+ PropertyDefinitionGetterVisitor::getDescriptor(DataInput& o, TypeInput& t)
+ {
+ return data::ConstTypedVariantVisitor::GetDescriptor(o, t);
+ }
+
+ PropertyDefinitionSetterVisitor::PropertyDefinitionSetterVisitor(const PropertyDefinitionsPtr& defs) :
+ property_definitions_(std::experimental::make_observer(defs.get()))
+ {
+ }
+
+ void
+ PropertyDefinitionSetterVisitor::visitAronVariant(const data::IntPtr& i, const type::IntPtr&)
+ {
+ INPUT_GUARD(i);
+ auto name = pathToName(i);
+ property_definitions_->defineOptionalProperty<int>(name, i->getValue());
+ }
+
+ void
+ PropertyDefinitionSetterVisitor::visitAronVariant(const data::FloatPtr& f, const type::FloatPtr&)
+ {
+ INPUT_GUARD(f);
+ auto name = pathToName(f);
+ property_definitions_->defineOptionalProperty<float>(name, f->getValue());
+ }
+
+ void
+ PropertyDefinitionSetterVisitor::visitAronVariant(const data::DoublePtr& d, const type::DoublePtr&)
+ {
+ INPUT_GUARD(d);
+ auto name = pathToName(d);
+ property_definitions_->defineOptionalProperty<double>(name, d->getValue());
+ }
+
+ void
+ PropertyDefinitionSetterVisitor::visitAronVariant(const data::BoolPtr& b, const type::BoolPtr&)
+ {
+ INPUT_GUARD(b);
+ auto name = pathToName(b);
+ property_definitions_->defineOptionalProperty<bool>(name, b->getValue());
+ }
+
+ void
+ PropertyDefinitionSetterVisitor::visitAronVariant(const data::StringPtr& string, const type::StringPtr&)
+ {
+ INPUT_GUARD(string);
+ auto name = pathToName(string);
+ property_definitions_->defineOptionalProperty<std::string>(name, string->getValue());
+ }
+
+ void
+ PropertyDefinitionSetterVisitor::visitAronVariant(const data::IntPtr& i, const type::IntEnumPtr& t)
+ {
+ INPUT_GUARD(i);
+ auto name = pathToName(i);
+ property_definitions_->defineOptionalProperty<int>(name, i->getValue()).map(t->getAcceptedValueMap());
+ }
+
+ void
+ PropertyDefinitionSetterVisitor::visitAronVariantOnEnter(const data::ListPtr& l, const type::ListPtr& t)
+ {
+ ARMARX_CHECK_NOT_NULL(l);
+ in_list_ = true;
+ const auto& name = pathToName(l);
+ const auto& type = t->getAcceptedType()->getDescriptor();
+ if (std::find(implementedListDescriptors.begin(), implementedListDescriptors.end(), type) ==
+ implementedListDescriptors.end())
+ {
+ return;
+ }
+ const auto& input = l->getElements();
+ std::string str;
+ std::vector<std::string> vector;
+ std::transform(input.begin(), input.end(), std::back_inserter(vector), [&type](const auto& el)
+ {
+ return factories::VariantHelper::make(type)->to_string(el);
+ });
+ str = simox::alg::to_string(vector, ", ");
+ property_definitions_->defineOptionalProperty<std::string>(name, str);
+ }
+
+ void
+ PropertyDefinitionSetterVisitor::visitAronVariantOnExit(const data::ListPtr&, const type::ListPtr&)
+ {
+ in_list_ = false;
+ }
+
+ void
+ PropertyDefinitionSetterVisitor::visitAronVariantOnEnter(const data::DictPtr& d, const type::DictPtr& t)
+ {
+ in_list_ = true;
+ const auto& name = pathToName(d);
+ const auto& type = t->getAcceptedType()->getDescriptor();
+ if (std::find(implementedListDescriptors.begin(), implementedListDescriptors.end(), type) ==
+ implementedListDescriptors.end())
+ {
+ return;
+ }
+ const auto& input = d->getElements();
+ std::stringstream ss;
+ for (const auto& [key, el]: input)
+ {
+ ss << key << ":";
+ ss << factories::VariantHelper::make(type)->to_string(el);
+ ss << ",";
+ }
+ std::string value = ss.str();
+ if (not value.empty())
+ {
+ value.pop_back();
+ }
+ property_definitions_->defineOptionalProperty<std::string>(name, value);
+ }
+
+ void
+ PropertyDefinitionSetterVisitor::visitAronVariantOnExit(const data::DictPtr&, const type::DictPtr&)
+ {
+ in_list_ = false;
+ }
+}
+
+#undef INPUT_GUARD
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.h b/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.h
new file mode 100644
index 0000000000000000000000000000000000000000..b99fb8b7b4a3fa40bdf19b3407e8ce1dcb1ac963
--- /dev/null
+++ b/source/RobotAPI/libraries/aron_component_config/PropertyDefinitionVisitors.h
@@ -0,0 +1,107 @@
+/*
+ * 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 robdekon
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 06.09.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <experimental/memory>
+#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
+
+namespace armarx::aron::component_config
+{
+
+ class PropertyDefinitionSetterVisitor : public aron::data::RecursiveConstTypedVariantVisitor
+ {
+ public:
+ explicit PropertyDefinitionSetterVisitor(const armarx::PropertyDefinitionsPtr& defs);
+
+ void visitAronVariant(const data::IntPtr&, const type::IntEnumPtr&) override;
+
+ void visitAronVariant(const data::IntPtr&, const type::IntPtr&) override;
+
+ void visitAronVariant(const data::FloatPtr&, const type::FloatPtr&) override;
+
+ void visitAronVariant(const data::DoublePtr&, const type::DoublePtr&) override;
+
+ void visitAronVariant(const data::BoolPtr&, const type::BoolPtr&) override;
+
+ void visitAronVariant(const data::StringPtr&, const type::StringPtr&) override;
+
+ void visitAronVariantOnEnter(const data::ListPtr&, const type::ListPtr&) override;
+
+ void visitAronVariantOnExit(const data::ListPtr&, const type::ListPtr&) override;
+
+ void visitAronVariantOnEnter(const data::DictPtr&, const type::DictPtr&) override;
+
+ void visitAronVariantOnExit(const data::DictPtr&, const type::DictPtr&) override;
+
+ private:
+ std::experimental::observer_ptr<PropertyDefinitionContainer> property_definitions_;
+ std::atomic<bool> in_list_{false};
+ };
+
+ class PropertyDefinitionGetterVisitor : public aron::data::RecursiveTypedVisitor<data::VariantPtr,
+ const type::VariantPtr>
+ {
+ public:
+ explicit PropertyDefinitionGetterVisitor(const armarx::PropertyUser& defs);
+
+ type::Descriptor getDescriptor(DataInput& o, TypeInput& t) override;
+
+ MapElements getObjectElements(DataInput& o, TypeInput& t) override;
+
+ MapElements getDictElements(DataInput& o, TypeInput& t) override;
+
+ ListElements getListElements(DataInput& o, TypeInput& t) override;
+
+ PairElements getPairElements(DataInput& o, TypeInput& t) override;
+
+ TupleElements getTupleElements(DataInput& o, TypeInput& t) override;
+
+ void visitInt(DataInput& elementData, TypeInput& elementType) override;
+
+ void visitFloat(DataInput& elementData, TypeInput& elementType) override;
+
+ void visitDouble(DataInput& elementData, TypeInput& elementType) override;
+
+ void visitBool(DataInput& elementData, TypeInput& elementType) override;
+
+ void visitString(DataInput& elementData, TypeInput& elementType) override;
+
+ void visitUnknown(DataInput& elementData, TypeInput& elementType) override;
+
+ void visitListOnEnter(DataInput& elementData, TypeInput& elementType) override;
+
+ void visitListOnExit(DataInput& elementData, TypeInput& elementType) override;
+
+ void visitDictOnEnter(DataInput& elementData, TypeInput& elementType) override;
+
+ void visitDictOnExit(DataInput& elementData, TypeInput& elementType) override;
+
+ void visitIntEnum(DataInput& elementData, TypeInput& elementType) override;
+
+ private:
+ std::experimental::observer_ptr<const armarx::PropertyUser> property_user_;
+ std::atomic<bool> in_list_;
+ };
+
+}
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/aron_component_config/RemoteGui.h b/source/RobotAPI/libraries/aron_component_config/RemoteGui.h
new file mode 100644
index 0000000000000000000000000000000000000000..e790688585294d69d7ff68e39ec54ad763b72046
--- /dev/null
+++ b/source/RobotAPI/libraries/aron_component_config/RemoteGui.h
@@ -0,0 +1,58 @@
+/*
+ * 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 robdekon
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 07.09.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXGui/libraries/RemoteGui/RemoteGui.h>
+#include <RobotAPI/libraries/aron/core/data/variant/forward_declarations.h>
+#include <RobotAPI/libraries/aron/core/codegeneration/cpp/AronGeneratedClass.h>
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include "RemoteGuiVisitors.h"
+
+namespace armarx::RemoteGui
+{
+ template <typename T> concept isAronGenerated = std::is_base_of<armarx::aron::cpp::AronGeneratedClass, T>::value;
+
+ template <typename AronStructT>
+ requires isAronGenerated<AronStructT>
+ detail::GroupBoxBuilder makeConfigGui(
+ const std::string& name,
+ const AronStructT& val)
+ {
+ aron::component_config::MakeConfigGuiVisitor vis(name);
+ armarx::aron::data::visitRecursive(vis, val.toAron(), val.ToAronType());
+ return vis.getGroupBoxBuilder();
+ }
+
+// template <typename AronStructT>
+// requires isAronGenerated<AronStructT>
+// void getValueFromMap(AronStructT& cfg,
+// RemoteGui::ValueMap const& values, std::string const& name)
+// {
+// armarx::aron::component_config::GetValueFromMapVisitor vis(&values);
+// auto data = std::static_pointer_cast<armarx::aron::data::Variant>(cfg.toAron());
+// auto type = cfg.ToAronType();
+// armarx::aron::data::visitRecursive(vis, data, type);
+// cfg.fromAron(std::static_pointer_cast<armarx::aron::data::Dict>(data));
+// }
+
+}
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.cpp b/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9856fb3ccdbcee5426eec1d423fea9cacc2c2313
--- /dev/null
+++ b/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.cpp
@@ -0,0 +1,672 @@
+/*
+ * 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 robdekon
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 07.09.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "RemoteGuiVisitors.h"
+
+#include <SimoxUtility/math/convert/quat_to_rpy.h>
+#include <SimoxUtility/math/convert/rpy_to_quat.h>
+
+#include <ArmarXCore/util/CPPUtility/Iterator.h>
+
+#include <ArmarXGui/libraries/RemoteGui/RemoteGui.h>
+
+#include <RobotAPI/libraries/aron/converter/eigen/EigenConverter.h>
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <RobotAPI/libraries/aron_component_config/VariantHelperFactory.h>
+
+#include "Util.h"
+
+#define INPUT_GUARD(i) \
+ ARMARX_TRACE; \
+ ARMARX_CHECK_NOT_NULL(i); \
+ if (in_list_) \
+ return;
+
+namespace armarx::aron::component_config
+{
+
+ void
+ MakeConfigGuiVisitor::visitObjectOnEnter(DataInput& dict, TypeInput& /*unused*/)
+ {
+ INPUT_GUARD(dict);
+
+ if (dict->getPath().hasElement())
+ {
+ std::string name = pathToName(dict);
+ group_hierarchy_.emplace_back(std::make_shared<RemoteGui::detail::GroupBoxBuilder>(
+ RemoteGui::makeGroupBox(name)));
+ }
+ else
+ {
+ group_hierarchy_.push_back(builder_);
+ }
+ }
+
+ void
+ MakeConfigGuiVisitor::visitObjectOnExit(DataInput& dict, TypeInput& /*j*/)
+ {
+ INPUT_GUARD(dict);
+ auto builder = *group_hierarchy_.back();
+ group_hierarchy_.pop_back();
+ if (!group_hierarchy_.empty())
+ {
+ group_hierarchy_.back()->addChild(builder);
+ }
+ }
+
+ void
+ MakeConfigGuiVisitor::visitInt(DataInput& i, TypeInput& /*unused*/)
+ {
+ INPUT_GUARD(i);
+ auto value = data::Int::DynamicCastAndCheck(i);
+ const auto& name = pathToName(i);
+ auto group = RemoteGui::makeHBoxLayout(name + "_layout");
+ group.addChild(RemoteGui::makeLabel(name + "_label").value(i->getPath().getLastElement()));
+ group.addHSpacer();
+ group.addChild(RemoteGui::makeIntSpinBox(name)
+ .value(value->getValue())
+ .min(-1000)
+ .max(1000)
+ .toolTip(name));
+ group_hierarchy_.back()->addChild(group);
+ }
+
+ void
+ MakeConfigGuiVisitor::visitFloat(DataInput& f, TypeInput& /*unused*/)
+ {
+ INPUT_GUARD(f);
+ auto value = data::Float::DynamicCastAndCheck(f);
+ const auto& name = pathToName(f);
+ auto group = RemoteGui::makeHBoxLayout(name + "_layout");
+ group.addChild(RemoteGui::makeLabel(name + "_label").value(f->getPath().getLastElement()));
+ group.addHSpacer();
+ group.addChild(RemoteGui::makeFloatSpinBox(name)
+ .value(value->getValue())
+ .min(-1000)
+ .max(1000)
+ .toolTip(name));
+ group_hierarchy_.back()->addChild(group);
+ }
+
+ void
+ MakeConfigGuiVisitor::visitDouble(DataInput& d, TypeInput& /*unused*/)
+ {
+ INPUT_GUARD(d);
+ auto value = data::Double::DynamicCastAndCheck(d);
+ const auto& name = pathToName(d);
+ auto group = RemoteGui::makeHBoxLayout(name + "_layout");
+ group.addChild(RemoteGui::makeLabel(name + "_label").value(d->getPath().getLastElement()));
+ group.addHSpacer();
+ group.addChild(RemoteGui::makeFloatSpinBox(name)
+ .value(value->getValue())
+ .min(-1000)
+ .max(1000)
+ .toolTip(name));
+ group_hierarchy_.back()->addChild(group);
+ }
+
+ void
+ MakeConfigGuiVisitor::visitBool(DataInput& b, TypeInput& /*unused*/)
+ {
+ INPUT_GUARD(b);
+ auto value = data::Bool::DynamicCastAndCheck(b);
+ const auto& name = pathToName(b);
+ auto group = RemoteGui::makeHBoxLayout(name + "_layout");
+ group.addChild(RemoteGui::makeLabel(name + "_label").value(b->getPath().getLastElement()));
+ group.addHSpacer();
+ group.addChild(
+ RemoteGui::makeCheckBox(name).label("").value(value->getValue()).toolTip(name));
+ group_hierarchy_.back()->addChild(group);
+ }
+
+ void
+ MakeConfigGuiVisitor::visitString(DataInput& string, TypeInput& /*unused*/)
+ {
+ INPUT_GUARD(string);
+ auto value = data::String::DynamicCastAndCheck(string);
+ const auto& name = pathToName(string);
+ auto group = RemoteGui::makeHBoxLayout(name + "_layout");
+ group.addChild(
+ RemoteGui::makeLabel(name + "_label").value(string->getPath().getLastElement()));
+ group.addHSpacer();
+ group.addChild(RemoteGui::makeLineEdit(name).value(value->getValue()).toolTip(name));
+ group_hierarchy_.back()->addChild(group);
+ }
+
+ MakeConfigGuiVisitor::MakeConfigGuiVisitor(const std::string& name) :
+ builder_(std::make_unique<RemoteGui::detail::GroupBoxBuilder>(name))
+ {
+ }
+
+ RemoteGui::detail::GroupBoxBuilder
+ MakeConfigGuiVisitor::getGroupBoxBuilder() const
+ {
+ return *builder_;
+ }
+
+ void
+ MakeConfigGuiVisitor::visitListOnEnter(DataInput& o, TypeInput& t)
+ {
+ in_list_ = true;
+ auto group = RemoteGui::makeSimpleGridLayout(pathToName(o) + "_grid").cols(20);
+ auto data = data::List::DynamicCastAndCheck(o);
+ auto type = type::List::DynamicCast(t)->getAcceptedType()->getDescriptor();
+ if (std::find(implementedListDescriptors.begin(), implementedListDescriptors.end(), type) ==
+ implementedListDescriptors.end())
+ {
+ return;
+ }
+ for (const auto& el : data->getElements())
+ {
+ group.addChild(RemoteGui::makeLineEdit(pathToName(el))
+ .value(factories::VariantHelper::make(type)->to_string(el)),
+ 10);
+ group.addHSpacer(8);
+ group.addChild(RemoteGui::makeButton(pathToName(el) + "_button")
+ .label("-")
+ .toolTip("Remove List Element"),
+ 2);
+ }
+ group_hierarchy_.back()->addChild(
+ RemoteGui::makeGroupBox(pathToName(o) + "_grp")
+ .label(o->getPath().getLastElement())
+ .collapsed(true)
+ .addChild(group)
+ .addChild(RemoteGui::makeButton(pathToName(o) + "_add")
+ .label("+")
+ .toolTip("Add new list entry.")));
+ }
+
+ void
+ MakeConfigGuiVisitor::visitListOnExit(DataInput& /*unused*/, TypeInput& /*unused*/)
+ {
+ in_list_ = false;
+ }
+
+ void
+ MakeConfigGuiVisitor::visitIntEnum(DataInput& o, TypeInput& t)
+ {
+ INPUT_GUARD(o);
+ auto data = data::Int::DynamicCastAndCheck(o);
+ auto type = type::IntEnum::DynamicCast(t);
+ const auto& name = pathToName(o);
+ auto group = RemoteGui::makeHBoxLayout(name + "_layout");
+ group.addChild(RemoteGui::makeLabel(name + "_label").value(o->getPath().getLastElement()));
+ group.addHSpacer();
+ group.addChild(RemoteGui::makeComboBox(name)
+ .options(type->getAcceptedValueNames())
+ .value(type->getValueName(data->getValue()))
+ .toolTip(name));
+ group_hierarchy_.back()->addChild(group);
+ }
+ void
+ MakeConfigGuiVisitor::visitMatrix(const std::shared_ptr<data::Variant>& q,
+ const std::shared_ptr<type::Variant>& t)
+ {
+ auto data = data::NDArray::DynamicCastAndCheck(q);
+ auto type = type::Matrix::DynamicCast(t);
+ const auto& cols = type->getCols();
+ const auto& rows = type->getRows();
+ const auto& name = pathToName(q);
+ auto group = RemoteGui::makeHBoxLayout(name + "_layout");
+ group.addChild(RemoteGui::makeLabel(name + "_label").value(q->getPath().getLastElement()));
+ group.addHSpacer();
+
+ if (cols == 4 && rows == 4)
+ {
+ // Poses
+ const auto& matrix = aron::converter::AronEigenConverter::ConvertToMatrix4f(data);
+ group.addChild(RemoteGui::makePosRPYSpinBoxes(name).value(matrix).toolTip(name));
+ }
+ else if ((cols == 3 and rows == 1) or (rows == 3 and cols == 1))
+ {
+ // Positions
+ const auto& vector = aron::converter::AronEigenConverter::ConvertToVector3f(data);
+ group.addChild(RemoteGui::makeVector3fSpinBoxes(name).value(vector).toolTip(name));
+ }
+ group_hierarchy_.back()->addChild(group);
+ }
+
+ void
+ MakeConfigGuiVisitor::visitQuaternion(const std::shared_ptr<data::Variant>& q,
+ const std::shared_ptr<type::Variant>& t)
+ {
+ INPUT_GUARD(q);
+ auto data = data::NDArray::DynamicCastAndCheck(q);
+ auto type = type::Quaternion::DynamicCast(t);
+ const auto& quat = simox::math::quat_to_rpy(
+ aron::converter::AronEigenConverter::ConvertToQuaternionf(data));
+ const auto& name = pathToName(q);
+ auto group = RemoteGui::makeHBoxLayout(name + "_layout");
+ group.addChild(RemoteGui::makeLabel(name + "_label").value(q->getPath().getLastElement()));
+ group.addHSpacer();
+ group.addChild(RemoteGui::makeVector3fSpinBoxes(name).value(quat).min(-M_PI).max(M_PI).steps(601).decimals(2).toolTip(name));
+ group_hierarchy_.back()->addChild(group);
+ }
+
+ void
+ MakeConfigGuiVisitor::visitDictOnEnter(const std::shared_ptr<data::Variant>& o,
+ const std::shared_ptr<type::Variant>& t)
+ {
+ in_list_ = true;
+ auto group = RemoteGui::makeSimpleGridLayout(pathToName(o) + "_grid").cols(20);
+ auto data = data::Dict::DynamicCastAndCheck(o);
+ auto type = type::Dict::DynamicCast(t)->getAcceptedType()->getDescriptor();
+ if (std::find(implementedListDescriptors.begin(), implementedListDescriptors.end(), type) ==
+ implementedListDescriptors.end())
+ {
+ return;
+ }
+ for (const auto& el : data->getElements())
+ {
+ group.addChild(RemoteGui::makeLineEdit(pathToName(el.second) + "_lbl").value(el.first),
+ 5);
+ group.addHSpacer(2);
+ group.addChild(RemoteGui::makeLineEdit(pathToName(el.second))
+ .value(factories::VariantHelper::make(type)->to_string(el.second)),
+ 5);
+ group.addHSpacer(6);
+ group.addChild(RemoteGui::makeButton(pathToName(el.second) + "_button")
+ .label("-")
+ .toolTip("Remove List Element"),
+ 2);
+ }
+ group_hierarchy_.back()->addChild(
+ RemoteGui::makeGroupBox(pathToName(o) + "_grp")
+ .label(o->getPath().getLastElement())
+ .collapsed(true)
+ .addChild(group)
+ .addChild(RemoteGui::makeButton(pathToName(o) + "_add")
+ .label("+")
+ .toolTip("Add new dict entry.")));
+ }
+
+ void
+ MakeConfigGuiVisitor::visitDictOnExit(const std::shared_ptr<data::Variant>&,
+ const std::shared_ptr<type::Variant>&)
+ {
+ in_list_ = false;
+ }
+
+
+ GetValueFromMapVisitor::GetValueFromMapVisitor(armarx::RemoteGui::TabProxy* proxy) :
+ proxy_(std::experimental::make_observer(proxy))
+ {
+ }
+
+ void
+ GetValueFromMapVisitor::visitInt(DataInput& i, TypeInput&)
+ {
+ INPUT_GUARD(i);
+ auto value = data::Int::DynamicCastAndCheck(i);
+ const std::string name = pathToName(i);
+ auto gui_value = proxy_->getValue<int>(name);
+ if (value->getValue() != gui_value.get())
+ {
+ if (proxy_->hasValueChanged(name))
+ {
+ value->setValue(gui_value.get());
+ i = value;
+ }
+ else
+ {
+ proxy_->setValue(value->getValue(), name);
+ }
+ }
+ }
+
+ void
+ GetValueFromMapVisitor::visitFloat(DataInput& f, TypeInput&)
+ {
+ INPUT_GUARD(f);
+ auto value = data::Float::DynamicCastAndCheck(f);
+ const std::string name = pathToName(f);
+ auto gui_value = proxy_->getValue<float>(name);
+ if (value->getValue() != gui_value.get())
+ {
+ if (proxy_->hasValueChanged(name))
+ {
+ value->setValue(gui_value.get());
+ f = value;
+ }
+ else
+ {
+ proxy_->setValue(value->getValue(), name);
+ }
+ }
+ }
+
+ void
+ GetValueFromMapVisitor::visitDouble(DataInput& d, TypeInput&)
+ {
+ INPUT_GUARD(d);
+ auto value = data::Double::DynamicCastAndCheck(d);
+ const std::string name = pathToName(d);
+ // TODO: does double work here?
+ auto gui_value = proxy_->getValue<float>(name);
+ if (value->getValue() != gui_value.get())
+ {
+ if (proxy_->hasValueChanged(name))
+ {
+ value->setValue(gui_value.get());
+ d = value;
+ }
+ else
+ {
+ proxy_->setValue(static_cast<float>(value->getValue()), name);
+ }
+ }
+ }
+
+ void
+ GetValueFromMapVisitor::visitBool(DataInput& b, TypeInput&)
+ {
+ INPUT_GUARD(b);
+ auto value = data::Bool::DynamicCastAndCheck(b);
+ const std::string name = pathToName(b);
+ auto gui_value = proxy_->getValue<bool>(name);
+ if (value->getValue() != gui_value.get())
+ {
+ if (proxy_->hasValueChanged(name))
+ {
+ value->setValue(gui_value.get());
+ b = value;
+ }
+ else
+ {
+ proxy_->setValue(value->getValue(), name);
+ }
+ }
+ }
+
+ void
+ GetValueFromMapVisitor::visitString(DataInput& string, TypeInput&)
+ {
+ INPUT_GUARD(string);
+ auto value = data::String::DynamicCastAndCheck(string);
+ const std::string name = pathToName(string);
+ auto gui_value = proxy_->getValue<std::string>(name);
+ if (value->getValue() != gui_value.get())
+ {
+ if (proxy_->hasValueChanged(name))
+ {
+ value->setValue(gui_value.get());
+ string = value;
+ }
+ else
+ {
+ proxy_->setValue(value->getValue(), name);
+ }
+ }
+ }
+
+ type::Descriptor
+ GetValueFromMapVisitor::getDescriptor(DataInput& o, TypeInput& t)
+ {
+ return data::ConstTypedVariantVisitor::GetDescriptor(o, t);
+ }
+
+ GetValueFromMapVisitor::MapElements
+ GetValueFromMapVisitor::getObjectElements(DataInput& o, TypeInput& t)
+ {
+ return component_config::getObjectElements(o, t);
+ }
+
+ GetValueFromMapVisitor::MapElements
+ GetValueFromMapVisitor::getDictElements(DataInput& o, TypeInput& t)
+ {
+ return component_config::getDictElements(o, t);
+ }
+
+ GetValueFromMapVisitor::ListElements
+ GetValueFromMapVisitor::getListElements(DataInput& o, TypeInput& t)
+ {
+ return component_config::getListElements(o, t);
+ }
+
+ GetValueFromMapVisitor::PairElements
+ GetValueFromMapVisitor::getPairElements(DataInput& o, TypeInput& t)
+ {
+ return component_config::getPairElements(o, t);
+ }
+
+ GetValueFromMapVisitor::TupleElements
+ GetValueFromMapVisitor::getTupleElements(DataInput& o, TypeInput& t)
+ {
+ return component_config::getTupleElements(o, t);
+ }
+
+ void
+ GetValueFromMapVisitor::visitIntEnum(DataInput& o, TypeInput& t)
+ {
+ INPUT_GUARD(o);
+ auto data = data::Int::DynamicCastAndCheck(o);
+ auto type = type::IntEnum::DynamicCastAndCheck(t);
+ std::string str;
+ const std::string name = pathToName(o);
+ proxy_->getValue(str, pathToName(o));
+ if (data->getValue() != type->getValue(str))
+ {
+ if (proxy_->hasValueChanged(name))
+ {
+ data->getValue() = type->getValue(str);
+ o = data;
+ }
+ else
+ {
+ proxy_->setValue(type->getValueName(data->getValue()), name);
+ }
+ }
+ }
+
+ void
+ GetValueFromMapVisitor::visitListOnEnter(DataInput& o, TypeInput& t)
+ {
+ in_list_ = true;
+ auto data = data::List::DynamicCastAndCheck(o);
+ auto type = type::List::DynamicCast(t)->getAcceptedType()->getDescriptor();
+ if (std::find(implementedListDescriptors.begin(), implementedListDescriptors.end(), type) ==
+ implementedListDescriptors.end())
+ {
+ return;
+ }
+ const auto& elements = data->getElements();
+ for (const auto& [idx, el] : armarx::MakeIndexedContainer(elements))
+ {
+ if (proxy_->getButtonClicked(pathToName(el) + "_button"))
+ {
+ data->removeElement(idx);
+ tab_rebuild_required_ = true;
+ }
+ auto gui_value = proxy_->getValue<std::string>(pathToName(el)).get();
+ factories::VariantHelper::make(type)->set_value_from_string(el, gui_value);
+ }
+ if (proxy_->getButtonClicked(pathToName(o) + "_add"))
+ {
+ data->addElement(factories::VariantHelper::make(type)->from_string(
+ "", o->getPath().withIndex(data->childrenSize())));
+ tab_rebuild_required_ = true;
+ }
+ }
+
+ void
+ GetValueFromMapVisitor::visitListOnExit(DataInput&, TypeInput&)
+ {
+ in_list_ = false;
+ }
+
+ bool
+ GetValueFromMapVisitor::tabRebuildRequired() const
+ {
+ return tab_rebuild_required_;
+ }
+ void
+ GetValueFromMapVisitor::visitMatrix(std::shared_ptr<data::Variant>& o,
+ const std::shared_ptr<type::Variant>& t)
+ {
+ INPUT_GUARD(o);
+ auto value = data::NDArray::DynamicCastAndCheck(o);
+ auto type = type::Matrix::DynamicCastAndCheck(t);
+ const std::string name = pathToName(o);
+ const auto& cols = type->getCols();
+ const auto& rows = type->getRows();
+ // TODO: does double work here?
+ if (cols == 4 && rows == 4)
+ {
+ auto gui_value = proxy_->getValue<Eigen::Matrix4f>(name);
+ auto config_value = converter::AronEigenConverter::ConvertToMatrix4f(value);
+
+ if (config_value != gui_value.get())
+ {
+ if (proxy_->hasValueChanged(name))
+ {
+ auto variant = converter::AronEigenConverter::ConvertFromMatrix(gui_value.get());
+ value->setData(gui_value.get().size() * sizeof(float), variant->getData());
+ }
+ else
+ {
+ proxy_->setValue(config_value, name);
+ }
+ }
+ } else if ((cols == 3 and rows == 1) or (cols == 1 and rows == 3))
+ {
+ auto gui_value = proxy_->getValue<Eigen::Vector3f>(name);
+ auto config_value = converter::AronEigenConverter::ConvertToVector3f(value);
+
+ if (config_value != gui_value.get())
+ {
+ if (proxy_->hasValueChanged(name))
+ {
+ auto variant = converter::AronEigenConverter::ConvertFromMatrix(gui_value.get());
+ value->setData(gui_value.get().size() * sizeof(float), variant->getData());
+ }
+ else
+ {
+ proxy_->setValue(config_value, name);
+ }
+ }
+ }
+
+ }
+ void
+ GetValueFromMapVisitor::visitQuaternion(std::shared_ptr<data::Variant>& o,
+ const std::shared_ptr<type::Variant>& t)
+ {
+ INPUT_GUARD(o);
+ auto value = data::NDArray::DynamicCastAndCheck(o);
+ const std::string name = pathToName(o);
+ // TODO: does double work here?
+ auto gui_value = proxy_->getValue<Eigen::Vector3f>(name);
+ const auto& quat = simox::math::quat_to_rpy(converter::AronEigenConverter::ConvertToQuaternionf(value));
+ if (quat != gui_value.get())
+ {
+ if (proxy_->hasValueChanged(name))
+ {
+ auto variant = converter::AronEigenConverter::ConvertFromQuaternion(simox::math::rpy_to_quat(gui_value.get()));
+ value->setData(4 * sizeof(float), variant->getData());
+ }
+ else
+ {
+ proxy_->setValue(quat, name);
+ }
+ }
+ }
+
+ void
+ GetValueFromMapVisitor::visitDictOnEnter(std::shared_ptr<data::Variant>& o,
+ const std::shared_ptr<type::Variant>& t)
+ {
+ in_list_ = true;
+ auto data = data::Dict::DynamicCastAndCheck(o);
+ auto type = type::Dict::DynamicCast(t)->getAcceptedType()->getDescriptor();
+ if (std::find(implementedListDescriptors.begin(), implementedListDescriptors.end(), type) ==
+ implementedListDescriptors.end())
+ {
+ return;
+ }
+ const auto& elements = data->getElements();
+ std::map<std::string, std::string> changed_labels;
+ for (const auto& [idx, el] : elements)
+ {
+ const std::string name = pathToName(el);
+ if (proxy_->getButtonClicked(name + "_button"))
+ {
+ data->removeElement(idx);
+ tab_rebuild_required_ = true;
+ }
+ auto gui_value = proxy_->getValue<std::string>(name).get();
+ auto gui_key = proxy_->getValue<std::string>(name + "_lbl").get();
+ auto config_value = factories::VariantHelper::make(type)->to_string(el);
+ if (gui_value != config_value)
+ {
+ if (proxy_->hasValueChanged(name))
+ {
+ factories::VariantHelper::make(type)->set_value_from_string(el, gui_value);
+ }
+ else
+ {
+ proxy_->setValue(config_value, name);
+ }
+ }
+ if (gui_key != idx)
+ {
+ if (proxy_->hasValueChanged(name + "_lbl"))
+ {
+ changed_labels.emplace(idx, gui_key);
+ }
+ else
+ {
+ proxy_->setValue(idx, name + "_lbl");
+ }
+ }
+ }
+ // replace changed keys in map
+ for (const auto& [old_label, new_label] : changed_labels)
+ {
+ auto element = data->getElement(old_label);
+ data->removeElement(old_label);
+ auto variantHelper = factories::VariantHelper::make(type);
+ data->addElement(new_label,
+ variantHelper->from_string(
+ variantHelper->to_string(element),
+ o->getPath().withDetachedLastElement().withElement(new_label)));
+ tab_rebuild_required_ = true;
+ }
+
+ if (proxy_->getButtonClicked(pathToName(o) + "_add"))
+ {
+ data->addElement("defaultKey",
+ factories::VariantHelper::make(type)->from_string(
+ "", o->getPath().withElement("defaultKey")));
+ tab_rebuild_required_ = true;
+ }
+ }
+
+ void
+ GetValueFromMapVisitor::visitDictOnExit(std::shared_ptr<data::Variant>&,
+ const std::shared_ptr<type::Variant>&)
+ {
+ in_list_ = false;
+ }
+} // namespace armarx::aron::component_config
+
+#undef INPUT_GUARD
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.h b/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.h
new file mode 100644
index 0000000000000000000000000000000000000000..e9324bf15e8429393beac81d2448aba9cbda26f2
--- /dev/null
+++ b/source/RobotAPI/libraries/aron_component_config/RemoteGuiVisitors.h
@@ -0,0 +1,133 @@
+/*
+ * 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 robdekon
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 07.09.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <experimental/memory>
+#include <RobotAPI/libraries/aron/core/data/visitor/variant/VariantVisitor.h>
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
+
+namespace armarx::RemoteGui
+{
+ namespace detail
+ {
+ class GroupBoxBuilder;
+ }
+ class TabProxy;
+
+ class ValueVariant;
+
+ using ValueMap = std::map<std::string, ValueVariant>;
+}
+namespace armarx::aron::component_config
+{
+
+ class MakeConfigGuiVisitor : public data::RecursiveConstTypedVariantVisitor
+ {
+ public:
+ explicit MakeConfigGuiVisitor(const std::string& name);
+
+ void visitObjectOnEnter(DataInput&, TypeInput&) override;
+
+ void visitObjectOnExit(DataInput&, TypeInput&) override;
+
+ void visitListOnEnter(DataInput&, TypeInput&) override;
+
+ void visitListOnExit(DataInput&, TypeInput&) override;
+
+ void visitDictOnEnter(DataInput&, TypeInput&) override;
+
+ void visitDictOnExit(DataInput&, TypeInput&) override;
+
+ void visitInt(DataInput&, TypeInput&) override;
+
+ void visitIntEnum(DataInput&, TypeInput&) override;
+
+ void visitFloat(DataInput&, TypeInput&) override;
+
+ void visitDouble(DataInput&, TypeInput&) override;
+
+ void visitBool(DataInput&, TypeInput&) override;
+
+ void visitString(DataInput&, TypeInput&) override;
+
+ void visitQuaternion(DataInput& input, TypeInput& typeInput) override;
+
+ void visitMatrix(DataInput& input, TypeInput& typeInput) override;
+
+ [[nodiscard]] RemoteGui::detail::GroupBoxBuilder getGroupBoxBuilder() const;
+
+ private:
+ std::shared_ptr<RemoteGui::detail::GroupBoxBuilder> builder_;
+ std::vector<std::shared_ptr<RemoteGui::detail::GroupBoxBuilder>> group_hierarchy_;
+ std::atomic_bool in_list_{false};
+ };
+
+ class GetValueFromMapVisitor : public aron::data::RecursiveTypedVisitor<data::VariantPtr, const type::VariantPtr>
+ {
+ public:
+ explicit GetValueFromMapVisitor(armarx::RemoteGui::TabProxy* proxy);
+
+ type::Descriptor getDescriptor(DataInput&, TypeInput&) override;
+
+ MapElements getObjectElements(DataInput&, TypeInput&) override;
+
+ MapElements getDictElements(DataInput&, TypeInput&) override;
+
+ ListElements getListElements(DataInput&, TypeInput&) override;
+
+ PairElements getPairElements(DataInput&, TypeInput&) override;
+
+ TupleElements getTupleElements(DataInput&, TypeInput&) override;
+
+ void visitListOnEnter(DataInput&, TypeInput&) override;
+
+ void visitListOnExit(DataInput&, TypeInput&) override;
+
+ void visitDictOnEnter(DataInput&, TypeInput&) override;
+
+ void visitDictOnExit(DataInput&, TypeInput&) override;
+
+ void visitInt(DataInput&, TypeInput&) override;
+
+ void visitIntEnum(DataInput&, TypeInput&) override;
+
+ void visitFloat(DataInput&, TypeInput&) override;
+
+ void visitDouble(DataInput&, TypeInput&) override;
+
+ void visitBool(DataInput&, TypeInput&) override;
+
+ void visitString(DataInput&, TypeInput&) override;
+ void visitMatrix(DataInput& elementData, TypeInput& elementType) override;
+ void visitQuaternion(DataInput& elementData, TypeInput& elementType) override;
+
+ bool tabRebuildRequired() const;
+
+
+ private:
+ std::experimental::observer_ptr<armarx::RemoteGui::TabProxy> proxy_;
+ bool in_list_{false};
+ bool tab_rebuild_required_{false};
+ };
+
+}
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/aron_component_config/Util.h b/source/RobotAPI/libraries/aron_component_config/Util.h
new file mode 100644
index 0000000000000000000000000000000000000000..c6c5561b7112714812896a4eec2269c1f767b597
--- /dev/null
+++ b/source/RobotAPI/libraries/aron_component_config/Util.h
@@ -0,0 +1,151 @@
+/*
+ * 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 robdekon
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 07.09.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <memory>
+#include <numeric>
+#include <RobotAPI/libraries/aron/core/data/variant/Variant.h>
+
+
+namespace armarx::aron::component_config
+{
+
+ inline std::string pathToName(const std::shared_ptr<data::Variant>& v)
+ {
+ auto vector = v->getPath().getPath();
+ auto path = v->getPath();
+ path.setDelimeter(".");
+ path.setRootIdentifier("");
+ auto string = path.toString();
+ return string.substr(1, string.size());
+ }
+
+ template <typename DataInputT, typename TypeInputT>
+ std::map<std::string,
+ std::pair<typename std::remove_const<DataInputT>::type, typename std::remove_const<TypeInputT>::type>>
+ getObjectElements(DataInputT& o, TypeInputT& t)
+ {
+ std::map<std::string, std::pair<data::VariantPtr, type::VariantPtr>> ret;
+ auto x = data::Dict::DynamicCastAndCheck(o);
+ auto y = type::Object::DynamicCastAndCheck(t);
+
+ ARMARX_CHECK_NOT_NULL(y);
+
+ if (x)
+ {
+ for (const auto& [key, e]: x->getElements())
+ {
+ auto ct = y->getMemberType(key);
+ ret.insert({key, {e, ct}});
+ }
+ }
+ return ret;
+ }
+
+ template <typename DataInputT, typename TypeInputT>
+ std::map<std::string,
+ std::pair<typename std::remove_const<DataInputT>::type, typename std::remove_const<TypeInputT>::type>>
+ getDictElements(DataInputT& o, TypeInputT& t)
+ {
+ std::map<std::string, std::pair<typename std::remove_const<DataInputT>::type,
+ typename std::remove_const<TypeInputT>::type>> ret;
+ auto x = data::Dict::DynamicCastAndCheck(o);
+ auto y = type::Dict::DynamicCastAndCheck(t);
+
+ auto ac = y ? y->getAcceptedType() : nullptr;
+
+ if (x)
+ {
+ for (const auto& [key, e]: x->getElements())
+ {
+ ret.insert({key, {e, ac}});
+ }
+ }
+ return ret;
+ }
+
+ template <typename DataInputT, typename TypeInputT>
+ std::vector<std::pair<typename std::remove_const<DataInputT>::type, typename std::remove_const<TypeInputT>::type>>
+ getListElements(DataInputT& o, TypeInputT& t)
+ {
+ std::vector<std::pair<typename std::remove_const<DataInputT>::type,
+ typename std::remove_const<TypeInputT>::type>> ret;
+ auto x = data::List::DynamicCastAndCheck(o);
+ auto y = type::List::DynamicCastAndCheck(t);
+
+ auto ac = y ? y->getAcceptedType() : nullptr;
+
+ if (x)
+ {
+ for (const auto& e: x->getElements())
+ {
+ ret.emplace_back(e, ac);
+ }
+ }
+ return ret;
+ }
+
+ template <typename DataInputT, typename TypeInputT>
+ std::pair<std::pair<typename std::remove_const<DataInputT>::type, typename std::remove_const<TypeInputT>::type>,
+ std::pair<typename std::remove_const<DataInputT>::type, typename std::remove_const<TypeInputT>::type>>
+ getPairElements(DataInputT& o, TypeInputT& t)
+ {
+ auto x = data::List::DynamicCastAndCheck(o);
+ auto y = type::Pair::DynamicCastAndCheck(t);
+
+ ARMARX_CHECK_NOT_NULL(y);
+
+ if (x)
+ {
+ auto e0 = x->getElement(0);
+ auto ac0 = y->getFirstAcceptedType();
+ auto e1 = x->getElement(1);
+ auto ac1 = y->getSecondAcceptedType();
+ return {{e0, ac0},
+ {e1, ac1}};
+ }
+ return {};
+ }
+
+ template <typename DataInputT, typename TypeInputT>
+ std::vector<std::pair<typename std::remove_const<DataInputT>::type, typename std::remove_const<TypeInputT>::type>>
+ getTupleElements(DataInputT& o, TypeInputT& t)
+ {
+ std::vector<std::pair<data::VariantPtr, type::VariantPtr>> ret;
+ auto x = data::List::DynamicCastAndCheck(o);
+ auto y = type::Tuple::DynamicCastAndCheck(t);
+
+ ARMARX_CHECK_NOT_NULL(y);
+
+ if (x)
+ {
+ unsigned int i = 0;
+ for (const auto& e: x->getElements())
+ {
+ auto ac = y->getAcceptedType(i++);
+ ret.emplace_back(e, ac);
+ }
+ }
+ return ret;
+ }
+}
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/aron_component_config/VariantHelperFactory.cpp b/source/RobotAPI/libraries/aron_component_config/VariantHelperFactory.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..1a9f09ecf7c7b2d90577ec8974c4968f4d88c213
--- /dev/null
+++ b/source/RobotAPI/libraries/aron_component_config/VariantHelperFactory.cpp
@@ -0,0 +1,210 @@
+/*
+ * 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
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 04.11.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+#include <ArmarXCore/core/application/properties/Property.h>
+#include "VariantHelperFactory.h"
+
+namespace armarx::aron::component_config::products
+{
+ template <>
+ std::string
+ VariantHelper<type::Descriptor::INT>::to_string(const data::VariantPtr& ptr) const
+ {
+ ARMARX_TRACE;
+ return simox::alg::to_string(data::Int::DynamicCast(ptr)->getValue());
+ }
+
+ template <>
+ std::string
+ VariantHelper<type::Descriptor::BOOL>::to_string(const data::VariantPtr& ptr) const
+ {
+ ARMARX_TRACE;
+ return simox::alg::to_string(data::Bool::DynamicCast(ptr)->getValue());
+ }
+
+ template <>
+ std::string
+ VariantHelper<type::Descriptor::STRING>::to_string(const data::VariantPtr& ptr) const
+ {
+ ARMARX_TRACE;
+ return data::String::DynamicCast(ptr)->getValue();
+ }
+
+ template <>
+ std::string
+ VariantHelper<type::Descriptor::FLOAT>::to_string(const data::VariantPtr& ptr) const
+ {
+ ARMARX_TRACE;
+ return simox::alg::to_string(data::Float::DynamicCast(ptr)->getValue());
+ }
+
+ template <>
+ std::string
+ VariantHelper<type::Descriptor::INT_ENUM>::to_string(const data::VariantPtr& ptr) const
+ {
+ ARMARX_TRACE;
+ // TODO: this is should use the name of the enum value
+ return simox::alg::to_string(data::Int::DynamicCast(ptr)->getValue());
+ }
+
+ template <>
+ std::string
+ VariantHelper<type::Descriptor::DOUBLE>::to_string(const data::VariantPtr& ptr) const
+ {
+ ARMARX_TRACE;
+ return simox::alg::to_string(data::Double::DynamicCast(ptr)->getValue());
+ }
+
+ template <>
+ aron::data::VariantPtr
+ products::VariantHelper<type::Descriptor::INT>::from_string(const std::string& string,
+ const armarx::aron::Path& path) const
+ {
+ ARMARX_TRACE;
+ int i = string.empty() ? 0 : std::stoi(string);
+ return make_int(i, path);
+ }
+
+ template <>
+ aron::data::VariantPtr
+ products::VariantHelper<type::Descriptor::FLOAT>::from_string(const std::string& string,
+ const armarx::aron::Path& path) const
+ {
+ ARMARX_TRACE;
+ float f = string.empty() ? 0 : std::stof(string);
+ return make_float(f, path);
+ }
+
+ template <>
+ aron::data::VariantPtr
+ products::VariantHelper<type::Descriptor::DOUBLE>::from_string(const std::string& string,
+ const armarx::aron::Path& path) const
+ {
+ ARMARX_TRACE;
+ double d = string.empty() ? 0 : std::stod(string);
+ return make_double(d, path);
+ }
+
+ template <>
+ aron::data::VariantPtr
+ products::VariantHelper<type::Descriptor::BOOL>::from_string(const std::string& string,
+ const armarx::aron::Path& path) const
+ {
+ ARMARX_TRACE;
+ if (string == "true")
+ {
+ return make_bool(true, path);
+ } else if (string == "false" or string.empty())
+ {
+ return make_bool(false, path);
+ }
+ throw armarx::InvalidArgumentException("Boolean string has to be either true or false");
+ }
+
+ template <>
+ aron::data::VariantPtr
+ products::VariantHelper<type::Descriptor::INT_ENUM>::from_string(const std::string& string,
+ const armarx::aron::Path& path) const
+ {
+ // TODO: this might not work
+ ARMARX_TRACE;
+ return make_int(string.empty() ? 0 : std::stoi(string), path);
+ }
+
+ template <>
+ aron::data::VariantPtr
+ products::VariantHelper<type::Descriptor::STRING>::from_string(const std::string& string,
+ const armarx::aron::Path& path) const
+ {
+ ARMARX_TRACE;
+ std::string formatted_string = "";
+ if (not string.empty())
+ {
+ formatted_string = armarx::FileSystemPathBuilder_ApplyFormattingAndResolveEnvAndCMakeVars(string);
+ }
+ return make_string(formatted_string, path);
+ }
+
+ template <>
+ void
+ products::VariantHelper<type::Descriptor::INT>::set_value_from_string(const armarx::aron::data::VariantPtr& variant,
+ const std::string& string) const
+ {
+ ARMARX_TRACE;
+ data::Int::DynamicCast(variant)->getValue() = std::stoi(string);
+ }
+
+ template <>
+ void
+ products::VariantHelper<type::Descriptor::FLOAT>::set_value_from_string(const armarx::aron::data::VariantPtr& variant,
+ const std::string& string) const
+ {
+ ARMARX_TRACE;
+ data::Float::DynamicCast(variant)->getValue() = std::stof(string);
+ }
+
+ template <>
+ void
+ products::VariantHelper<type::Descriptor::DOUBLE>::set_value_from_string(const armarx::aron::data::VariantPtr& variant,
+ const std::string& string) const
+ {
+ ARMARX_TRACE;
+ data::Double::DynamicCast(variant)->getValue() = std::stod(string);
+ }
+
+ template <>
+ void
+ products::VariantHelper<type::Descriptor::BOOL>::set_value_from_string(const armarx::aron::data::VariantPtr& variant,
+ const std::string& string) const
+ {
+ ARMARX_TRACE;
+ data::Bool::DynamicCast(variant)->getValue() = string == "true";
+ }
+
+ template <>
+ void
+ products::VariantHelper<type::Descriptor::STRING>::set_value_from_string(const armarx::aron::data::VariantPtr& variant,
+ const std::string& string) const
+ {
+ ARMARX_TRACE;
+ data::String::DynamicCast(variant)->getValue() = string;
+ }
+
+ template <>
+ void
+ products::VariantHelper<type::Descriptor::INT_ENUM>::set_value_from_string(const armarx::aron::data::VariantPtr& variant,
+ const std::string& string) const
+ {
+ ARMARX_TRACE;
+ data::Int::DynamicCast(variant)->getValue() = std::stoi(string);
+ }
+
+
+ template struct products::VariantHelper<type::Descriptor::INT>;
+ template struct products::VariantHelper<type::Descriptor::STRING>;
+ template struct products::VariantHelper<type::Descriptor::BOOL>;
+ template struct products::VariantHelper<type::Descriptor::FLOAT>;
+ template struct products::VariantHelper<type::Descriptor::DOUBLE>;
+ template struct products::VariantHelper<type::Descriptor::INT_ENUM>;
+}
\ No newline at end of file
diff --git a/source/RobotAPI/libraries/aron_component_config/VariantHelperFactory.h b/source/RobotAPI/libraries/aron_component_config/VariantHelperFactory.h
new file mode 100644
index 0000000000000000000000000000000000000000..d2dfb921a7f5cea9e55c6fd96258f258a965c9e3
--- /dev/null
+++ b/source/RobotAPI/libraries/aron_component_config/VariantHelperFactory.h
@@ -0,0 +1,174 @@
+/*
+ * 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
+ * @author Christoph Pohl ( christoph dot pohl at kit dot edu )
+ * @date 04.11.22
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/util/CPPUtility/SelfRegisteringFactory.h>
+#include <ArmarXCore/core/application/properties/forward_declarations.h>
+#include <RobotAPI/libraries/aron/core/Descriptor.h>
+#include <RobotAPI/libraries/aron/core/data/variant/Variant.h>
+
+namespace armarx::aron::component_config
+{
+ namespace factories
+ {
+ struct VariantHelper : armarx::Factory<VariantHelper, type::Descriptor>
+ {
+ explicit VariantHelper(Key)
+ {
+ };
+
+ virtual ~VariantHelper() = default;
+
+ virtual std::string to_string(const armarx::aron::data::VariantPtr&) const = 0;
+
+ virtual void
+ set_value_from_string(const armarx::aron::data::VariantPtr&, const std::string& string) const = 0;
+
+ virtual aron::data::VariantPtr from_string(const std::string&, const armarx::aron::Path& path) const = 0;
+ };
+ }
+ namespace products
+ {
+ template <type::Descriptor DescT>
+ struct VariantHelper : factories::VariantHelper::Registrar<VariantHelper<DescT>>
+ {
+ using RegistrarT = factories::VariantHelper::Registrar<VariantHelper<DescT>>;
+ static constexpr type::Descriptor id = DescT;
+
+ explicit VariantHelper() : RegistrarT(typename RegistrarT::Registration())
+ {
+ };
+
+ [[nodiscard]] std::string to_string(const data::VariantPtr& ptr) const override;
+
+ void set_value_from_string(const armarx::aron::data::VariantPtr& variant,
+ const std::string& string) const override;
+
+ [[nodiscard]] aron::data::VariantPtr
+ from_string(const std::string&, const armarx::aron::Path& path) const override;
+ };
+
+
+ }
+
+ template <>
+ std::string
+ products::VariantHelper<type::Descriptor::INT>::to_string(const data::VariantPtr& ptr) const;
+
+ template <>
+ aron::data::VariantPtr
+ products::VariantHelper<type::Descriptor::INT>::from_string(const std::string&,
+ const armarx::aron::Path& path) const;
+
+ template <>
+ void
+ products::VariantHelper<type::Descriptor::INT>::set_value_from_string(const armarx::aron::data::VariantPtr&,
+ const std::string&) const;
+
+ template <>
+ std::string
+ products::VariantHelper<type::Descriptor::FLOAT>::to_string(const data::VariantPtr& ptr) const;
+
+ template <>
+ aron::data::VariantPtr
+ products::VariantHelper<type::Descriptor::FLOAT>::from_string(const std::string&,
+ const armarx::aron::Path& path) const;
+
+ template <>
+ void
+ products::VariantHelper<type::Descriptor::FLOAT>::set_value_from_string(const armarx::aron::data::VariantPtr&,
+ const std::string&) const;
+
+ template <>
+ std::string
+ products::VariantHelper<type::Descriptor::BOOL>::to_string(const data::VariantPtr& ptr) const;
+
+ template <>
+ aron::data::VariantPtr
+ products::VariantHelper<type::Descriptor::BOOL>::from_string(const std::string&,
+ const armarx::aron::Path& path) const;
+
+ template <>
+ void
+ products::VariantHelper<type::Descriptor::BOOL>::set_value_from_string(const armarx::aron::data::VariantPtr&,
+ const std::string&) const;
+
+ template <>
+ std::string
+ products::VariantHelper<type::Descriptor::STRING>::to_string(const data::VariantPtr& ptr) const;
+
+ template <>
+ aron::data::VariantPtr
+ products::VariantHelper<type::Descriptor::STRING>::from_string(const std::string&,
+ const armarx::aron::Path& path) const;
+
+ template <>
+ void
+ products::VariantHelper<type::Descriptor::STRING>::set_value_from_string(const armarx::aron::data::VariantPtr&,
+ const std::string&) const;
+
+ template <>
+ std::string
+ products::VariantHelper<type::Descriptor::DOUBLE>::to_string(const data::VariantPtr& ptr) const;
+
+ template <>
+ aron::data::VariantPtr
+ products::VariantHelper<type::Descriptor::DOUBLE>::from_string(const std::string&,
+ const armarx::aron::Path& path) const;
+
+ template <>
+ void
+ products::VariantHelper<type::Descriptor::DOUBLE>::set_value_from_string(const armarx::aron::data::VariantPtr&,
+ const std::string&) const;
+
+ template <>
+ std::string
+ products::VariantHelper<type::Descriptor::INT_ENUM>::to_string(const data::VariantPtr& ptr) const;
+
+ template <>
+ aron::data::VariantPtr
+ products::VariantHelper<type::Descriptor::INT_ENUM>::from_string(const std::string&,
+ const armarx::aron::Path& path) const;
+
+ template <>
+ void
+ products::VariantHelper<type::Descriptor::INT_ENUM>::set_value_from_string(const armarx::aron::data::VariantPtr&,
+ const std::string&) const;
+
+
+ static inline const std::list<type::Descriptor> implementedListDescriptors = {
+ type::Descriptor::INT_ENUM,
+ type::Descriptor::INT,
+ type::Descriptor::STRING,
+ type::Descriptor::FLOAT,
+ type::Descriptor::DOUBLE,
+ type::Descriptor::BOOL,
+ };
+ extern template struct products::VariantHelper<type::Descriptor::INT>;
+ extern template struct products::VariantHelper<type::Descriptor::FLOAT>;
+ extern template struct products::VariantHelper<type::Descriptor::DOUBLE>;
+ extern template struct products::VariantHelper<type::Descriptor::STRING>;
+ extern template struct products::VariantHelper<type::Descriptor::BOOL>;
+ extern template struct products::VariantHelper<type::Descriptor::INT_ENUM>;
+}
+
diff --git a/source/RobotAPI/libraries/skills/CMakeLists.txt b/source/RobotAPI/libraries/skills/CMakeLists.txt
index 7368c8d633d766e4adb022e0f428dfe3cdce1ce4..30241deae7dc56e5ff773c473e895457cae38ba5 100644
--- a/source/RobotAPI/libraries/skills/CMakeLists.txt
+++ b/source/RobotAPI/libraries/skills/CMakeLists.txt
@@ -16,27 +16,42 @@ armarx_add_library(
./manager/SkillManagerComponentPlugin.cpp
./provider/SkillProviderComponentPlugin.cpp
./provider/Skill.cpp
+ ./provider/SkillProxy.cpp
./provider/PeriodicSkill.cpp
./provider/SpecializedSkill.cpp
./provider/PeriodicSpecializedSkill.cpp
./provider/SkillDescription.cpp
./provider/SkillStatusUpdate.cpp
./provider/SkillParameterization.cpp
- ./provider/helper/LambdaSkillImplementation.cpp
+ ./provider/LambdaSkill.cpp
+ ./provider/SkillContext.cpp
+ ./provider/SkillID.cpp
./provider/detail/SkillImplementationWrapper.cpp
- HEADERS
+ HEADERS
./error/Exception.h
./manager/SkillManagerComponentPlugin.h
./provider/SkillProviderComponentPlugin.h
./provider/Skill.h
+ ./provider/SkillProxy.h
./provider/PeriodicSkill.h
./provider/SpecializedSkill.h
./provider/PeriodicSpecializedSkill.h
./provider/SkillDescription.h
./provider/SkillStatusUpdate.h
./provider/SkillParameterization.h
- ./provider/helper/LambdaSkillImplementation.h
+ ./provider/LambdaSkill.h
+ ./provider/SkillContext.h
+ ./provider/SkillID.h
./provider/detail/SkillImplementationWrapper.h
+
+ provider/mixins/All.h
+ provider/mixins/ArvizSkillMixin.h
+ provider/mixins/MNSSkillMixin.h
+ provider/mixins/MemoryReadingSkillMixin.h
+ provider/mixins/RobotReadingSkillMixin.h
+ provider/mixins/ObjectReadingSkillMixin.h
+ provider/mixins/ObjectWritingSkillMixin.h
+ provider/mixins/GraspReadingSkillMixin.h
)
add_library(RobotAPI::skills ALIAS RobotAPISkills)
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
index b83ad843beef64e3112fb56d7523dfcdf6c56c34..23a708aceace48317d04884a8579fd21001b92c3 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.cpp
@@ -1,6 +1,7 @@
#include "SkillManagerComponentPlugin.h"
#include <ArmarXCore/core/Component.h>
+#include "../error/Exception.h"
namespace armarx::plugins
{
@@ -50,23 +51,51 @@ namespace armarx
}
}
- void SkillManagerComponentPluginUser::executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current&)
+ std::string SkillManagerComponentPluginUser::getFirstProviderNameThatHasSkill(const std::string& skillName)
{
- if (auto it = skillProviderMap.find(info.providerName); it != skillProviderMap.end())
+ for (const auto& [providerName, providerPrx] : skillProviderMap)
+ {
+ auto allSkills = providerPrx->getSkillDescriptions();
+ for (const auto& [currentSkillName, skillDesc] : allSkills)
+ {
+ if (currentSkillName == skillName)
+ {
+ return providerName;
+ }
+ }
+ }
+ return "INVALID PROVIDER NAME";
+ }
+
+ skills::provider::dto::SkillStatusUpdate SkillManagerComponentPluginUser::executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current&)
+ {
+ std::string providerName = "INVALID PROVIDER NAME";
+ if (info.skillId.providerName == "*")
+ {
+ providerName = getFirstProviderNameThatHasSkill(info.skillId.skillName);
+ }
+ else if(not(info.skillId.providerName.empty()))
+ {
+ providerName = info.skillId.providerName;
+ }
+
+ if (auto it = skillProviderMap.find(providerName); it != skillProviderMap.end())
{
skills::callback::dti::SkillProviderCallbackInterfacePrx myPrx;
getProxy(myPrx, -1);
skills::provider::dto::SkillExecutionRequest exInfo;
- exInfo.skillName = info.skillName;
+ exInfo.skillName = info.skillId.skillName;
+ exInfo.executorName = info.executorName;
exInfo.callbackInterface = myPrx;
exInfo.params = info.params;
- it->second->executeSkill(exInfo);
+ return it->second->executeSkill(exInfo);
}
else
{
- throw LocalException("Could not execute a skill of provider '" + info.providerName + "' because the provider does not exist.");
+ ARMARX_ERROR << "Could not execute a skill of provider '" + providerName + "' because the provider does not exist.";
+ throw skills::error::SkillException(__PRETTY_FUNCTION__, "Skill execution failed. Could not execute a skill of provider '" + providerName + "' because the provider does not exist.");
}
}
diff --git a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
index e9c950c740d2b253edc33adb0ccd7d08971cfee8..7b14adf04d141900166968c773f498b6060623cb 100644
--- a/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/manager/SkillManagerComponentPlugin.h
@@ -34,13 +34,16 @@ namespace armarx
void addProvider(const skills::manager::dto::ProviderInfo& providerInfo, const Ice::Current ¤t) override;
void removeProvider(const std::string&, const Ice::Current ¤t) override;
- void executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t) override;
+ skills::provider::dto::SkillStatusUpdate executeSkill(const skills::manager::dto::SkillExecutionRequest& info, const Ice::Current ¤t) override;
void updateStatusForSkill(const skills::provider::dto::SkillStatusUpdate& update, const Ice::Current ¤t) override;
void abortSkill(const std::string& providerName, const std::string& skillName, const Ice::Current ¤t) override;
skills::manager::dto::SkillDescriptionMapMap getSkillDescriptions(const Ice::Current ¤t) override;
skills::manager::dto::SkillStatusUpdateMapMap getSkillExecutionStatuses(const Ice::Current ¤t) override;
+ protected:
+ std::string getFirstProviderNameThatHasSkill(const std::string& skillName);
+
private:
armarx::plugins::SkillManagerComponentPlugin* plugin = nullptr;
diff --git a/source/RobotAPI/libraries/skills/provider/LambdaSkill.cpp b/source/RobotAPI/libraries/skills/provider/LambdaSkill.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..280cdb93e5eb62413a159f232b20c5da0b7e3bd7
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/LambdaSkill.cpp
@@ -0,0 +1,15 @@
+#include "LambdaSkill.h"
+
+namespace armarx
+{
+ namespace skills
+ {
+
+ Skill::MainResult LambdaSkill::main(const MainInput& in)
+ {
+ TerminatedSkillStatus res = fun(in.executorName, in.params);
+
+ return {.status = res, .data = nullptr};
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h b/source/RobotAPI/libraries/skills/provider/LambdaSkill.h
similarity index 52%
rename from source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h
rename to source/RobotAPI/libraries/skills/provider/LambdaSkill.h
index 0f65572ac3c1191519c1f0d697ca1c767da56acb..01e3a3897e78b444c222b352556bea118f5bc50f 100644
--- a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.h
+++ b/source/RobotAPI/libraries/skills/provider/LambdaSkill.h
@@ -1,15 +1,15 @@
#pragma once
-#include "../Skill.h"
+#include "Skill.h"
namespace armarx
{
- namespace skills::helper
+ namespace skills
{
class LambdaSkill : public Skill
{
public:
- using FunT = std::function<bool(const aron::data::DictPtr&)>;
+ using FunT = std::function<TerminatedSkillStatus(const std::string clientId, const aron::data::DictPtr&)>;
LambdaSkill() = delete;
LambdaSkill(const FunT& f, const SkillDescription& desc) :
@@ -17,8 +17,8 @@ namespace armarx
fun(f)
{};
- protected:
- Skill::Status main(const aron::data::DictPtr& data, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; }) override;
+ private:
+ MainResult main(const MainInput& in) override;
private:
FunT fun;
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp
index d459b9af70c56925eaa53e86584215ad2d291c06..70daa959f0256646125c8477768f304db5555312 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.cpp
@@ -30,61 +30,62 @@
namespace armarx::skills
{
- PeriodicSkill::PeriodicSkill(const SkillDescription& skillDescription,
- const armarx::Frequency& frequency) :
+ PeriodicSkill::PeriodicSkill(const SkillDescription& skillDescription, const armarx::Frequency& frequency) :
Skill(skillDescription), frequency(frequency)
{
}
- Skill::Status
- PeriodicSkill::main(const aron::data::DictPtr& params, const CallbackT& callback)
+ PeriodicSkill::StepResult PeriodicSkill::stepOfSkill(const MainInput& in)
{
- if(not initialize(params))
- {
- onFailed();
- return Skill::Status::Failed;
- }
+ return this->step(in);
+ }
+ Skill::MainResult PeriodicSkill::main(const MainInput& in)
+ {
core::time::Metronome metronome(frequency);
- while (not stopped and not timeoutReached)
+ while (not Skill::checkWhetherSkillShouldStopASAP())
{
- const auto status = executeOnce(params);
- switch (status)
+ const auto res = stepOfSkill(in);
+ switch (res.status)
{
- case Status::Running:
+ case ActiveOrTerminatedSkillStatus::Running:
// nothing to do here
break;
- case Status::Succeeded:
- onSucceeded();
- return Skill::Status::Succeeded;
- case Status::Failed:
- onFailed();
- return Skill::Status::Failed;
+ case ActiveOrTerminatedSkillStatus::Aborted:
+ return {TerminatedSkillStatus::Aborted, res.data};
+ case ActiveOrTerminatedSkillStatus::Succeeded:
+ return {TerminatedSkillStatus::Succeeded, res.data};
+ case ActiveOrTerminatedSkillStatus::Failed:
+ return {TerminatedSkillStatus::Failed, res.data};
}
const auto sleepDuration = metronome.waitForNextTick();
if (not sleepDuration.isPositive())
{
- ARMARX_INFO << deactivateSpam() << "PeriodicSkill: execution took too long ("
- << -sleepDuration << " vs " << frequency.toCycleDuration() << ")";
+ ARMARX_INFO << deactivateSpam() << "PeriodicSkill: execution took too long (" << -sleepDuration << " too long. Expected " << frequency.toCycleDuration() << ")";
}
}
if (stopped)
{
- onStopped();
- return Skill::Status::Stopped;
+ return {TerminatedSkillStatus::Aborted, nullptr};
}
if (timeoutReached)
{
- onTimeoutReached();
- return Skill::Status::TimeoutReached;
+ ARMARX_WARNING << "The skill " << getSkillId().toString() << " reached timeout!";
+ return {TerminatedSkillStatus::Failed, nullptr};
}
- throw armarx::LocalException("should not happen.");
+ throw skills::error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
}
+ PeriodicSkill::StepResult PeriodicSkill::step(const MainInput& in)
+ {
+ ARMARX_IMPORTANT << "Dummy executing once skill '" << description.skillName << "'. Please overwrite this method!";
+ return {ActiveOrTerminatedSkillStatus::Succeeded, nullptr};
+ }
+
} // namespace armarx::skills
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h
index 6fb259f602db49c3640384793ec9790cef100fa2..5df6e07e9b7304b8e7c4db10141d3980f31a041c 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSkill.h
@@ -29,29 +29,25 @@
namespace armarx::skills
{
- class PeriodicSkill : virtual public Skill
+ class PeriodicSkill : public Skill
{
public:
- PeriodicSkill(const SkillDescription& skillDescription, const armarx::Frequency& frequency);
-
- protected:
- typename Skill::Status main(const aron::data::DictPtr& params,
- const Skill::CallbackT& callback) final;
-
- enum class Status
+ struct StepResult
{
- Running,
- Failed,
- Succeeded
+ ActiveOrTerminatedSkillStatus status;
+ aron::data::DictPtr data;
};
- virtual bool initialize(const aron::data::DictPtr& params) = 0;
- virtual Status executeOnce(const aron::data::DictPtr& params) = 0;
+ PeriodicSkill(const SkillDescription& skillDescription, const armarx::Frequency& frequency);
+
+ StepResult stepOfSkill(const MainInput& in);
+
+ private:
+ /// Do not use anymore
+ Skill::MainResult main(const MainInput& in) final;
- virtual void onSucceeded() = 0;
- virtual void onStopped() = 0;
- virtual void onFailed() = 0;
- virtual void onTimeoutReached() = 0;
+ /// Override this method with your own step function
+ virtual StepResult step(const MainInput& in);
private:
const armarx::Frequency frequency;
diff --git a/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
index 2b6fd6f6d352fe3edf94dc05a15ba3194703dfa3..4efac5d6d3ff33206063b928cd202e45476b0b63 100644
--- a/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/PeriodicSpecializedSkill.h
@@ -25,6 +25,7 @@
#include <ArmarXCore/core/time/Metronome.h>
#include "Skill.h"
+#include "PeriodicSkill.h"
#include "SpecializedSkill.h"
namespace armarx::skills
@@ -35,79 +36,75 @@ namespace armarx::skills
public:
using Base = SpecializedSkill<AronT>;
- PeriodicSpecializedSkill() = delete;
+ using Skill::description;
+ using Skill::getSkillId;
+
+ using StepResult = PeriodicSkill::StepResult;
- PeriodicSpecializedSkill(const SkillDescription& skillDescription,
- const armarx::Frequency& frequency) :
+ PeriodicSpecializedSkill() = delete;
+ PeriodicSpecializedSkill(const SkillDescription& skillDescription, const armarx::Frequency& frequency) :
Base(skillDescription), frequency(frequency)
{
}
- protected:
- typename Skill::Status
- main(const AronT& params, const Skill::CallbackT& callback) final
+
+ StepResult stepOfSkill(const typename Base::SpecializedMainInput& in)
{
- if (not initialize(params))
- {
- onFailed();
- return Skill::Status::Failed;
- }
+ return this->step(in);
+ }
+
+ private:
+ using Skill::stopped;
+ using Skill::timeoutReached;
+ /// Do not use anymore
+ Skill::MainResult main(const typename Base::SpecializedMainInput& in) final
+ {
core::time::Metronome metronome(frequency);
- while (not Skill::stopped and not Skill::timeoutReached)
+ while (not Skill::checkWhetherSkillShouldStopASAP())
{
- const auto status = executeOnce(params);
- switch (status)
+ const auto statusUpdate = stepOfSkill(in);
+ switch (statusUpdate.status)
{
- case Status::Running:
+ case ActiveOrTerminatedSkillStatus::Running:
// nothing to do here
break;
- case Status::Succeeded:
- onSucceeded();
- return Skill::Status::Succeeded;
- case Status::Failed:
- onFailed();
- return Skill::Status::Failed;
+ case ActiveOrTerminatedSkillStatus::Aborted:
+ return {TerminatedSkillStatus::Aborted, statusUpdate.data};
+ case ActiveOrTerminatedSkillStatus::Succeeded:
+ return {TerminatedSkillStatus::Succeeded, statusUpdate.data};
+ case ActiveOrTerminatedSkillStatus::Failed:
+ return {TerminatedSkillStatus::Failed, statusUpdate.data};
}
const auto sleepDuration = metronome.waitForNextTick();
if (not sleepDuration.isPositive())
{
- ARMARX_INFO << deactivateSpam() << "PeriodicSkill: execution took too long ("
- << -sleepDuration << " vs " << frequency.toCycleDuration() << ")";
+ ARMARX_INFO << deactivateSpam() << "PeriodicSkill: execution took too long (" << -sleepDuration << " too long. Expected " << frequency.toCycleDuration() << ")";
}
}
- if (Skill::stopped)
+ if (stopped)
{
- onStopped();
- return Skill::Status::Stopped;
+ return {TerminatedSkillStatus::Aborted, nullptr};
}
- if (Skill::timeoutReached)
+ if (timeoutReached)
{
- onTimeoutReached();
- return Skill::Status::TimeoutReached;
+ ARMARX_WARNING << "The skill " << getSkillId().toString() << " reached timeout!";
+ return {TerminatedSkillStatus::Failed, nullptr};
}
- throw armarx::LocalException("should not happen.");
+ throw skills::error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
}
- enum class Status
+ /// Override this method with your own step function
+ virtual StepResult step(const typename Base::SpecializedMainInput& in)
{
- Running,
- Failed,
- Succeeded
- };
-
- virtual bool initialize(const AronT& params) = 0;
- virtual Status executeOnce(const AronT& params) = 0;
-
- virtual void onSucceeded() = 0;
- virtual void onStopped() = 0;
- virtual void onFailed() = 0;
- virtual void onTimeoutReached() = 0;
+ ARMARX_IMPORTANT << "Dummy executing once skill '" << this->description.skillName << "'. Please overwrite this method!";
+ return {ActiveOrTerminatedSkillStatus::Succeeded, nullptr};
+ }
private:
const armarx::Frequency frequency;
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.cpp b/source/RobotAPI/libraries/skills/provider/Skill.cpp
index 23588f899674802a590633f1813a1c10c258feaf..21b32da1a75488fde1efea01b3b48e42b7fa77b9 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.cpp
+++ b/source/RobotAPI/libraries/skills/provider/Skill.cpp
@@ -12,101 +12,184 @@ namespace armarx
}
// install a local condition via a lambda
- void Skill::installCondition(std::function<bool()>&& f, std::function<void()>&& cb)
+ void Skill::installConditionWithCallback(std::function<bool()>&& f, std::function<void()>&& cb)
{
std::lock_guard l(callbacksMutex);
callbacks.push_back({f, cb});
}
- void Skill::notifyTimeoutReached()
+ bool Skill::isSkillAvailable(const InitInput &in) const
{
- timeoutReached = true;
+ return this->isAvailable(in);
}
- void Skill::notifyStopped()
+ bool Skill::isAvailable(const InitInput& in) const
{
- stopped = true;
+ (void) in;
+ return true;
}
- // reset all local variables
- void Skill::reset()
+ void Skill::resetSkill()
{
- started = IceUtil::Time::milliSeconds(-1);
- exited = IceUtil::Time::milliSeconds(-1);
+ //ARMARX_IMPORTANT << "Resetting skill '" << description.skillName << "'";
+
+ // resetting log times
+ started = armarx::core::time::DateTime::Invalid();
+ exited = armarx::core::time::DateTime::Invalid();
+ // resetting master running variable
running = false;
+
+ // resetting conditional variables
stopped = false;
timeoutReached = false;
+
+ this->reset();
}
- // always called before execute (should not take longer than 100ms)
- void Skill::init(const aron::data::DictPtr& params)
+ void Skill::waitForDependenciesOfSkill()
{
- (void) params;
-
- ARMARX_IMPORTANT << "Initializing Skill '" << description.skillName << "'";
+ //ARMARX_IMPORTANT << "Waiting for dependencies of skill '" << description.skillName << "'";
+ this->waitForDependencies();
+ }
+ void Skill::_init()
+ {
+ //ARMARX_IMPORTANT << "Initializing skill '" << description.skillName << "'";
callbacks.clear();
running = true;
- started = IceUtil::Time::now();
+ started = armarx::core::time::DateTime::Now();
// install timeout condition
- installCondition(
- [&](){ return (IceUtil::Time::now().toMilliSeconds() - started.toMilliSeconds()) >= description.timeoutMs; },
+ installConditionWithCallback(
+ [&](){ return (armarx::core::time::DateTime::Now() >= (started + description.timeout)); },
[&](){ notifyTimeoutReached(); }
);
conditionCheckingThread = std::thread([&]()
{
- while (running)
+ armarx::core::time::Metronome metronome(conditionCheckingThreadFrequency);
+ while (running) // when the skill ends/aborts this variable will be set to false
{
- std::lock_guard l(callbacksMutex);
- for (auto& p : callbacks)
{
- auto& f = p.first;
- auto& cb = p.second;
- if (f()) cb();
+ std::scoped_lock l(callbacksMutex);
+ for (auto& p : callbacks)
+ {
+ auto& f = p.first;
+ auto& cb = p.second;
+ if (f())
+ {
+ cb();
+ }
+ }
+ }
+ const auto sleepDuration = metronome.waitForNextTick();
+ if (not sleepDuration.isPositive())
+ {
+ ARMARX_WARNING << deactivateSpam() << "PeriodicSkill: execution took too long (" << -sleepDuration << " vs " << conditionCheckingThreadFrequency.toCycleDuration() << ")";
}
- std::this_thread::sleep_for(std::chrono::milliseconds(50)); // check frequency
}
});
}
+ Skill::InitResult Skill::initSkill(const InitInput& in)
+ {
+ this->_init();
+ return this->init(in);
+ }
- // always called after execute (should not take longer than 100ms)
- void Skill::exit(const aron::data::DictPtr& params)
+ void Skill::_main()
{
- (void) params;
+ // Nothing here yet...
+ }
+ Skill::MainResult Skill::mainOfSkill(const MainInput& in)
+ {
+ this->_main();
+ return this->main(in);
+ }
- ARMARX_IMPORTANT << "Exiting Skill '" << description.skillName << "'";
+ void Skill::_exit()
+ {
+ // ARMARX_IMPORTANT << "Exiting Skill '" << description.skillName << "'";
+ running = false; // stop checking conditions
- running = false; // notify all conditions to stop
if (conditionCheckingThread.joinable())
{
conditionCheckingThread.join();
}
- exited = IceUtil::Time::now();
+ exited = armarx::core::time::DateTime::Now();
+ }
+ Skill::ExitResult Skill::exitSkill(const ExitInput& in)
+ {
+ auto ret = this->exit(in);
+ this->_exit();
+ return ret;
}
- Skill::Status Skill::main(const aron::data::DictPtr& params, const CallbackT& callback)
+ void Skill::notifyTimeoutReached()
{
- (void) params;
+ timeoutReached = true;
+ onTimeoutReached();
+ }
- ARMARX_IMPORTANT << "Executing Skill '" << description.skillName << "'";
- return Status::Succeeded;
+ void Skill::notifySkillToStopASAP()
+ {
+ stopped = true;
+ onStopRequested();
}
- Skill::Status Skill::execute(const aron::data::DictPtr& params, const CallbackT& callback)
+ bool Skill::checkWhetherSkillShouldStopASAP() const
+ {
+ return stopped || timeoutReached;
+ }
+
+ // condition effects
+ void Skill::onTimeoutReached()
+ {
+ }
+ void Skill::onStopRequested()
{
- this->reset();
- this->init(params);
- auto ret = this->main(params);
- this->exit(params);
- return ret;
}
- bool Skill::stopRequested() const
+ // reset all local variables
+ void Skill::reset()
{
- return (stopped || timeoutReached);
+ // Default nothing to reset
+ }
+
+ // Wait if needed
+ void Skill::waitForDependencies()
+ {
+ // Default wait for nothing
+ }
+
+ // always called before execute (should not take longer than 100ms)
+ Skill::InitResult Skill::init(const InitInput&)
+ {
+ // Default nothing to init
+ return {.status = TerminatedSkillStatus::Succeeded};
+ }
+
+ // always called after execute or if skill fails (should not take longer than 100ms)
+ Skill::ExitResult Skill::exit(const ExitInput&)
+ {
+ // Default nothing to exit
+ return {.status = TerminatedSkillStatus::Succeeded};
+ }
+
+ Skill::MainResult Skill::main(const MainInput& in)
+ {
+ // This is just a dummy implementation
+ ARMARX_IMPORTANT << "Dummy executing skill '" << description.skillName << "'. Please overwrite this method.";
+ return {.status = TerminatedSkillStatus::Succeeded, .data = nullptr};
+ }
+
+ Skill::MainResult Skill::executeFullSkill(const MainInput& in)
+ {
+ this->resetSkill();
+ this->initSkill(InitInput{.executorName = in.executorName, .params = in.params});
+ auto ret = this->mainOfSkill(in);
+ this->exitSkill(ExitInput{.executorName = in.executorName, .params = in.params});
+ return ret;
}
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/Skill.h b/source/RobotAPI/libraries/skills/provider/Skill.h
index 1447fdd13ff440c9f5cfe9357a4f2889170502fb..0522191bfb57d272785380502217f23006a9e254 100644
--- a/source/RobotAPI/libraries/skills/provider/Skill.h
+++ b/source/RobotAPI/libraries/skills/provider/Skill.h
@@ -1,19 +1,25 @@
#pragma once
+// std/stl
#include <mutex>
#include <queue>
#include <thread>
#include <functional>
-#include <ArmarXCore/core/ComponentPlugin.h>
-#include <ArmarXCore/core/ManagedIceObject.h>
+// base class
+#include <ArmarXCore/core/logging/Logging.h>
+// ArmarX
#include <ArmarXCore/core/time/DateTime.h>
-#include <ArmarXCore/core/services/tasks/RunningTask.h>
+#include <ArmarXCore/core/time/Metronome.h>
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/All.h>
+#include "../error/Exception.h"
+
+#include "SkillID.h"
+#include "SkillStatusUpdate.h"
#include "SkillDescription.h"
namespace armarx
@@ -25,65 +31,144 @@ namespace armarx
public:
using CallbackT = std::function<void(const aron::data::DictPtr&)>;
- enum class Status
+ struct InitResult
+ {
+ TerminatedSkillStatus status;
+ };
+
+ struct InitInput
+ {
+ std::string executorName;
+ aron::data::DictPtr params;
+ };
+
+ struct MainInput
+ {
+ std::string executorName;
+ aron::data::DictPtr params;
+ CallbackT callback;
+ };
+
+ struct MainResult
+ {
+ TerminatedSkillStatus status;
+ aron::data::DictPtr data = nullptr;
+ };
+
+ struct ExitResult
+ {
+ TerminatedSkillStatus status;
+ };
+
+ struct ExitInput
{
- Succeeded,
- TimeoutReached,
- Stopped,
- Failed
+ std::string executorName;
+ aron::data::DictPtr params;
};
Skill() = delete;
Skill(const SkillDescription&);
virtual ~Skill() = default;
- /// Override this method with the actual implementation.
- virtual void init(const aron::data::DictPtr& params);
+ /// The id of the skill (combination of provider and name must be unique).
+ SkillID getSkillId() const
+ {
+ return {providerName, description.skillName};
+ }
- /// Override this method with the actual implementation.
- virtual void exit(const aron::data::DictPtr& params);
+ // Non virtual base methods. They internally call the virtual methods
+ // Lifecycle of a skill:
+ // 1. check if it is available
+ bool isSkillAvailable(const InitInput& in) const;
- /// Override this method with the actual implementation. The callback is for status updates to the calling instance
- virtual Status main(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; });
+ // 2. reset skill
+ void resetSkill();
+
+ // 3. Set skill scheduled. Wait for dependencies
+ void waitForDependenciesOfSkill();
+
+ // 4. All dependencies resolved. Init skill
+ InitResult initSkill(const InitInput& in);
+
+ // 5. Execute main function of skill
+ MainResult mainOfSkill(const MainInput& in);
+
+ // 6. Exit skill. This method is called in any case once the skill is scheduled.
+ ExitResult exitSkill(const ExitInput& in);
- /// Do all methods at once.
- Status execute(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; });
+ // Condition listeners
+ // used to notify the skill from extern to stop
+ void notifySkillToStopASAP();
+
+ // returns whether the skill should terminate as soon as possible
+ bool checkWhetherSkillShouldStopASAP() const;
+
+ /// Do init, main, exit together
+ MainResult executeFullSkill(const MainInput& in);
+
+ protected:
+ // fires if the skill reaches timeout
+ void notifyTimeoutReached();
+
+ // helper methods to do all the static initialization stuff
+ void _init();
+ void _main();
+ void _exit();
+
+ private:
+ /// Override if your skill can be unavailable. It receives the same input as the init method
+ virtual bool isAvailable(const InitInput& in) const;
/// Override if you have special members that needs to be resetted. It is called before the skill ititializes
virtual void reset();
- /// Override these methods if you want to do something special when notification comes
- virtual void notifyTimeoutReached();
- virtual void notifyStopped();
+ /// Override if you have special dependencies you have to wait for
+ virtual void waitForDependencies();
+
+ /// Override this method with the actual implementation.
+ virtual InitResult init(const InitInput& in);
- virtual bool stopRequested() const;
+ /// Override this method with the actual implementation. The callback is for status updates to the calling instance
+ virtual MainResult main(const MainInput& in);
- private:
- /// install a condition is easy
- void installCondition(std::function<bool()>&& f, std::function<void()>&& cb);
+ /// Override this method with the actual implementation.
+ virtual ExitResult exit(const ExitInput& in);
+
+ /// Override these methods if you want to do something special when notification comes
+ virtual void onTimeoutReached();
+ virtual void onStopRequested();
+
+ protected:
+ /// install a condition which is frequently checked from the conditionCheckingThread
+ void installConditionWithCallback(std::function<bool()>&& f, std::function<void()>&& cb);
public:
+ /// The descripion of the skill, which will be available via the provider/manager
const SkillDescription description;
- /// active conditions
- std::vector<std::pair<std::function<bool()>, std::function<void()>>> callbacks;
- mutable std::mutex callbacksMutex;
-
- /// running params. TODO switch to armarx::core::time
- IceUtil::Time started = IceUtil::Time::milliSeconds(-1);
- IceUtil::Time exited = IceUtil::Time::milliSeconds(-1);
+ /// running params
+ armarx::core::time::DateTime started = armarx::core::time::DateTime::Invalid();
+ armarx::core::time::DateTime exited = armarx::core::time::DateTime::Invalid();
- /// proxies that called the skills. Will be set from provider and is const afterwards
+ /// proxy that called the skills. Will be set from provider and is const afterwards
manager::dti::SkillManagerInterfacePrx manager = nullptr;
+ /// the provider that owns this skill. Will be set from provider and is const afterwards
+ std::string providerName = "INVALID PROVIDER NAME";
+
protected:
+ /// active conditions. First is condition (bool return func)
+ std::vector<std::pair<std::function<bool()>, std::function<void()>>> callbacks;
+ mutable std::mutex callbacksMutex;
+
/// Use conditions this way
- std::atomic_bool running = true;
+ std::atomic_bool running = false;
std::atomic_bool stopped = false;
std::atomic_bool timeoutReached = false;
private:
- std::thread conditionCheckingThread;
+ std::thread conditionCheckingThread; // A therad that checks the conditions frequently
+ armarx::Frequency conditionCheckingThreadFrequency = armarx::Frequency::Hertz(20);
};
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillContext.cpp b/source/RobotAPI/libraries/skills/provider/SkillContext.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3af16ef1200a4e3b8ef0865f9522cf10f081e27c
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillContext.cpp
@@ -0,0 +1,6 @@
+#include "SkillContext.h"
+
+namespace armarx
+{
+
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillContext.h b/source/RobotAPI/libraries/skills/provider/SkillContext.h
new file mode 100644
index 0000000000000000000000000000000000000000..9bdbc0f0260729fb213941ef64c589f1b7595a05
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillContext.h
@@ -0,0 +1,26 @@
+#pragma once
+
+// ArmarX
+#include <ArmarXCore/core/Component.h>
+
+namespace armarx
+{
+ namespace skills
+ {
+ /* A base class for skill contexts. It is not required to use a context for skills but it eases the management of dependencies and properties for providers */
+ class SkillContext
+ {
+ public:
+ SkillContext() = default;
+
+ virtual void defineProperties(const armarx::PropertyDefinitionsPtr& defs, const std::string& prefix) {};
+
+ virtual void onInit(armarx::Component& parent) {};
+ virtual void onConnected(armarx::Component& parent) {};
+ virtual void onDisconnected(armarx::Component& parent) {};
+ virtual void onStopped(armarx::Component& parent) {};
+
+ private:
+ };
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp b/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
index 3256f3e11bce11548a7d846904791717d311190a..4e195f39e3953d47c98371023ecb90d4c95f9fab 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillDescription.cpp
@@ -4,11 +4,6 @@ namespace armarx
{
namespace skills
{
- SkillDescription::SkillDescription(const std::string& name, const std::string& desc, const std::vector<std::string>& r, long timeoutMs, const aron::type::ObjectPtr& type, const aron::data::DictPtr& def) :
- skillName(name), description(desc), robots(r), timeoutMs(timeoutMs), acceptedType(type), defaultParams(def)
- {
- }
-
provider::dto::SkillDescription SkillDescription::toIce() const
{
provider::dto::SkillDescription ret;
@@ -16,7 +11,7 @@ namespace armarx
ret.description = description;
ret.skillName = skillName;
ret.robots = robots;
- ret.timeoutMs = timeoutMs;
+ ret.timeoutMs = timeout.toMilliSeconds();
ret.defaultParams = aron::data::Dict::ToAronDictDTO(defaultParams);
return ret;
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillDescription.h b/source/RobotAPI/libraries/skills/provider/SkillDescription.h
index 14bb86dc3b13215ff5131d5fb84d79572c7eda29..57c3c93b18230c81b4152d9d915e4d2337beb294 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillDescription.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillDescription.h
@@ -3,6 +3,8 @@
#include <string>
#include <vector>
+#include <ArmarXCore/core/time/Duration.h>
+
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/libraries/aron/core/type/variant/container/Object.h>
@@ -13,16 +15,13 @@ namespace armarx
{
struct SkillDescription
{
- std::string skillName = "";
- std::string description = "";
+ std::string skillName = "NOT INITIALIZED YET";
+ std::string description = "NOT INITIALIZED YET";
std::vector<std::string> robots = {};
- long timeoutMs = -1;
+ armarx::core::time::Duration timeout = armarx::core::time::Duration::MilliSeconds(-1);
aron::type::ObjectPtr acceptedType = nullptr;
aron::data::DictPtr defaultParams = nullptr;
- SkillDescription() = default;
- SkillDescription(const std::string&, const std::string&, const std::vector<std::string>&, long, const aron::type::ObjectPtr&, const aron::data::DictPtr& = nullptr);
-
provider::dto::SkillDescription toIce() const;
};
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillID.cpp b/source/RobotAPI/libraries/skills/provider/SkillID.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4619f717f4eeeedc4f7e61dc8ca0698241966b00
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillID.cpp
@@ -0,0 +1,40 @@
+#include "SkillID.h"
+
+namespace armarx
+{
+ namespace skills
+ {
+ SkillID::SkillID(const std::string& providerName, const std::string& skillName) : providerName(providerName), skillName(skillName)
+ {
+ if (simox::alg::contains(providerName, NAME_SEPARATOR) || simox::alg::contains(skillName, NAME_SEPARATOR))
+ {
+ throw error::SkillException(__PRETTY_FUNCTION__, std::string("A skill provider or a skill contains the blacklisted token '") + NAME_SEPARATOR + "'.");
+ }
+
+ if (simox::alg::contains(providerName, PREFIX_SEPARATOR) || simox::alg::contains(skillName, PREFIX_SEPARATOR))
+ {
+ throw error::SkillException(__PRETTY_FUNCTION__, std::string("A skill provider or a skill contains the blacklisted token '") + PREFIX_SEPARATOR + "'.");
+ }
+ }
+
+ bool SkillID::operator==(const SkillID& other) const
+ {
+ return toString() == other.toString();
+ }
+
+ bool SkillID::operator<(const SkillID& other) const
+ {
+ return toString() < other.toString();
+ }
+
+ provider::dto::SkillID SkillID::toIce() const
+ {
+ return {providerName, skillName};
+ }
+
+ std::string SkillID::toString(const std::string& prefix) const
+ {
+ return (prefix.empty() ? std::string("") : (prefix + PREFIX_SEPARATOR)) + providerName + NAME_SEPARATOR + skillName;
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillID.h b/source/RobotAPI/libraries/skills/provider/SkillID.h
new file mode 100644
index 0000000000000000000000000000000000000000..4c44ba82db38ce760a333adfa8518b6e86b62159
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillID.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include <string>
+#include <vector>
+
+#include <SimoxUtility/algorithm/string.h>
+
+#include "../error/Exception.h"
+
+#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
+#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+
+namespace armarx
+{
+ namespace skills
+ {
+ class SkillID
+ {
+ public:
+ static const constexpr char* PREFIX_SEPARATOR = "->";
+ static const constexpr char* NAME_SEPARATOR = "/";
+
+ std::string providerName;
+ std::string skillName;
+
+ SkillID() = delete;
+ SkillID(const std::string& providerName, const std::string& skillName);
+
+ bool operator==(const SkillID& other) const;
+ bool operator<(const SkillID& other) const;
+
+ provider::dto::SkillID toIce() const;
+ std::string toString(const std::string& prefix = "") const;
+ };
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillParameterization.cpp b/source/RobotAPI/libraries/skills/provider/SkillParameterization.cpp
index 2dc791fe3e77495717c0b6fd9f44da19f1ae41f1..f977b2ac595fd3506856d2ba42468cdef72d2e54 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillParameterization.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillParameterization.cpp
@@ -4,6 +4,9 @@ namespace armarx
{
namespace skills
{
-
+ aron::data::dto::DictPtr SkillParameterization::toIce() const
+ {
+ return aron::data::Dict::ToAronDictDTO(usedInputParams);
+ }
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillParameterization.h b/source/RobotAPI/libraries/skills/provider/SkillParameterization.h
index a6ce6ed4a95c0c090daa698f3cde8c2ebe30af39..72ec6d2eb11eec1954e753021d6e634a641027fd 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillParameterization.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillParameterization.h
@@ -14,6 +14,8 @@ namespace armarx
{
aron::data::DictPtr usedInputParams = nullptr;
callback::dti::SkillProviderCallbackInterfacePrx usedCallbackInterface = nullptr;
+
+ aron::data::dto::DictPtr toIce() const;
};
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
index 0691a6f71d8a28c1ddce4c74faf54fec213711dd..a53e04a2a92d5062dcb8785ca94301c44fc7865c 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.cpp
@@ -20,18 +20,18 @@ namespace armarx::plugins
void SkillProviderComponentPlugin::postOnConnectComponent()
{
auto& p = parent<SkillProviderComponentPluginUser>();
- std::string providerName = p.getName();
+ const std::string providerName = p.getName();
// update skill ownership
for (auto& [skillName, impl] : p.skillImplementations)
{
impl.skill->manager = manager;
+ impl.skill->providerName = providerName;
- impl.statusUpdate.providerName = p.getName();
- impl.statusUpdate.skillName = skillName;
+ impl.statusUpdate.skillId = {providerName, skillName};
}
- // register to manager
+ // register self to manager
skills::manager::dto::ProviderInfo i;
i.provider = myPrx;
i.providerName = providerName;
@@ -72,7 +72,7 @@ namespace armarx
}
std::string skillName = skill->description.skillName;
- if (connected)
+ if (connected) // TODO: fix so that skills can be added anytime!!!
{
ARMARX_WARNING << "The SkillProvider already registered to a manager. The skill '" + skillName + "' therefore cannot be added anymore. Please only add skills in the onInit method.";
return;
@@ -86,13 +86,14 @@ namespace armarx
return;
}
- ARMARX_INFO << "Adding skill " << skillName;
- skillImplementations.emplace(skillName, std::move(skill));
+ ARMARX_INFO << "Adding skill and set owning provider name" << skillName;
+ auto s = skillImplementations.emplace(skillName, std::move(skill));
+ s.first->second.statusUpdate.skillId = skills::SkillID(getName(), skillName);
}
- void SkillProviderComponentPluginUser::addSkill(const skills::helper::LambdaSkill::FunT& f, const skills::SkillDescription& desc)
+ void SkillProviderComponentPluginUser::addSkill(const skills::LambdaSkill::FunT& f, const skills::SkillDescription& desc)
{
- auto lambda = std::make_unique<skills::helper::LambdaSkill>(f, desc);
+ auto lambda = std::make_unique<skills::LambdaSkill>(f, desc);
addSkill(std::move(lambda));
}
@@ -136,7 +137,7 @@ namespace armarx
}
// Please not that this method waits until the skill can be scheduled!
- void SkillProviderComponentPluginUser::executeSkill(const skills::provider::dto::SkillExecutionRequest& info, const Ice::Current &)
+ skills::provider::dto::SkillStatusUpdate SkillProviderComponentPluginUser::executeSkill(const skills::provider::dto::SkillExecutionRequest& info, const Ice::Current &)
{
// The skill will be executed in a different thread
std::thread execution;
@@ -146,25 +147,28 @@ namespace armarx
usedParameterization.usedCallbackInterface = info.callbackInterface;
usedParameterization.usedInputParams = aron::data::Dict::FromAronDictDTO(info.params);
+ skills::provider::dto::SkillStatusUpdate ret;
{
std::shared_lock l(skillsMutex);
std::string skillName = info.skillName;
- ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
+ ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0) << "\nThe names are: " << VAROUT(skillName) << ", " << VAROUT(getName());
// get reference of the wrapper
auto& wrapper = skillImplementations.at(skillName);
// async start execution. But we wait for the execution to finish at the end of this method
- execution = std::thread([&wrapper, &usedParameterization](){
+ execution = std::thread([&ret, &wrapper, &info, &usedParameterization](){
// execute waits until the previous execution finishes.
- wrapper.execute(usedParameterization);
+ auto x = wrapper.setupAndExecuteSkill(info.executorName, usedParameterization);
+ ret = x.toIce();
});
- } // release lock. We don't know how long the skill needs to finish and we have to releasethe lock for being able to abort the execution
+ } // release lock. We don't know how long the skill needs to finish and we have to release the lock for being able to abort the execution
if (execution.joinable())
{
execution.join();
}
+ return ret;
}
void SkillProviderComponentPluginUser::abortSkill(const std::string& skillName, const Ice::Current &)
@@ -173,6 +177,6 @@ namespace armarx
ARMARX_CHECK_EXPRESSION(skillImplementations.count(skillName) > 0);
auto& wrapper = skillImplementations.at(skillName);
- wrapper.skill->notifyStopped();
+ wrapper.skill->notifySkillToStopASAP();
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
index a9696009516ad1f052058035da73a5c02b8e2dd5..c018ecd9a2610c823241f3b482d799598e37aa8b 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h
@@ -13,7 +13,14 @@
#include <RobotAPI/interface/skills/SkillManagerInterface.h>
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
-#include "helper/LambdaSkillImplementation.h"
+// Include all types of skills
+#include "Skill.h"
+#include "SpecializedSkill.h"
+#include "LambdaSkill.h"
+#include "PeriodicSkill.h"
+#include "PeriodicSpecializedSkill.h"
+
+// Helper wrapper for execution
#include "detail/SkillImplementationWrapper.h"
namespace armarx::plugins
@@ -52,11 +59,11 @@ namespace armarx
skills::provider::dto::SkillStatusUpdate getSkillExecutionStatus(const std::string& skill, const Ice::Current ¤t = Ice::Current()) override;
skills::provider::dto::SkillStatusUpdateMap getSkillExecutionStatuses(const Ice::Current ¤t = Ice::Current()) override;
- void executeSkill(const skills::provider::dto::SkillExecutionRequest& executionInfo, const Ice::Current ¤t = Ice::Current()) override;
+ skills::provider::dto::SkillStatusUpdate executeSkill(const skills::provider::dto::SkillExecutionRequest& executionInfo, const Ice::Current ¤t = Ice::Current()) override;
void abortSkill(const std::string& name, const Ice::Current ¤t = Ice::Current()) override;
protected:
- void addSkill(const skills::helper::LambdaSkill::FunT&, const skills::SkillDescription&);
+ void addSkill(const skills::LambdaSkill::FunT&, const skills::SkillDescription&);
void addSkill(std::unique_ptr<skills::Skill>&&);
private:
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp b/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e0ebdb3b653a1be1d59d9b945ac6b35c58962595
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillProxy.cpp
@@ -0,0 +1,47 @@
+#include "SkillProxy.h"
+
+namespace armarx
+{
+ namespace skills
+ {
+ SkillProxy::SkillProxy(const manager::dti::SkillManagerInterfacePrx& manager, const SkillID& skillId) :
+ manager(manager),
+ skillId(skillId)
+ {
+ }
+
+ SkillProxy::SkillProxy(const manager::dti::SkillManagerInterfacePrx& manager, const std::string& skillProviderName, const std::string& skillName) :
+ manager(manager),
+ skillId(skillProviderName, skillName)
+ {
+ }
+
+ SkillProxy::SkillProxy(const manager::dti::SkillManagerInterfacePrx& manager, const std::string& skillProviderName, const SkillDescription& skillDesc) :
+ manager(manager),
+ skillId(skillProviderName, skillDesc.skillName)
+ {
+ }
+
+ TerminatedSkillStatusUpdate SkillProxy::executeFullSkill(const std::string& executorName, const aron::data::DictPtr& params)
+ {
+ skills::manager::dto::SkillExecutionRequest req;
+ req.executorName = executorName;
+ req.params = params->toAronDictDTO();
+ req.skillId = skillId.toIce();
+
+ auto terminatingUpdate = manager->executeSkill(req);
+ return TerminatedSkillStatusUpdate::FromIce(terminatingUpdate);
+ }
+
+ IceInternal::Handle<Ice::AsyncResult> SkillProxy::begin_executeFullSkill(const std::string& executorName, const aron::data::DictPtr& params)
+ {
+ skills::manager::dto::SkillExecutionRequest req;
+ req.executorName = executorName;
+ req.params = params->toAronDictDTO();
+ req.skillId = skillId.toIce();
+
+ auto future = manager->begin_executeSkill(req);
+ return future;
+ }
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillProxy.h b/source/RobotAPI/libraries/skills/provider/SkillProxy.h
new file mode 100644
index 0000000000000000000000000000000000000000..6e8ddc5c74ec5e3d36423984d67807ae12da0680
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/SkillProxy.h
@@ -0,0 +1,26 @@
+#pragma once
+
+#include "Skill.h"
+
+namespace armarx
+{
+ namespace skills
+ {
+ /* Manages the remote execution of a skill and converts the ice types */
+ class SkillProxy : public armarx::Logging
+ {
+ public:
+ SkillProxy(const manager::dti::SkillManagerInterfacePrx& manager, const SkillID& skillId);
+ SkillProxy(const manager::dti::SkillManagerInterfacePrx& manager, const std::string& skillProviderName, const std::string& skillName);
+ SkillProxy(const manager::dti::SkillManagerInterfacePrx& manager, const std::string& skillProviderName, const SkillDescription& skillDesc);
+
+ TerminatedSkillStatusUpdate executeFullSkill(const std::string& executorName, const aron::data::DictPtr& params = nullptr);
+ IceInternal::Handle<Ice::AsyncResult> begin_executeFullSkill(const std::string& executorName, const aron::data::DictPtr& params = nullptr);
+
+ private:
+ const manager::dti::SkillManagerInterfacePrx& manager;
+
+ const SkillID skillId;
+ };
+ }
+}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
index fa9695b624acd0440413d7c756536ba7c9c66d86..18c4b8647bf3390a64343546b278155ab6a9ce30 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
+++ b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.cpp
@@ -4,15 +4,241 @@ namespace armarx
{
namespace skills
{
+ SkillStatus toSkillStatus(const ActiveOrTerminatedSkillStatus& d)
+ {
+ switch (d)
+ {
+ case ActiveOrTerminatedSkillStatus::Running:
+ return SkillStatus::Running;
+ case ActiveOrTerminatedSkillStatus::Failed:
+ return SkillStatus::Failed;
+ case ActiveOrTerminatedSkillStatus::Succeeded:
+ return SkillStatus::Succeeded;
+ case ActiveOrTerminatedSkillStatus::Aborted:
+ return SkillStatus::Aborted;
+ }
+ throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
+ }
+
+ SkillStatus toSkillStatus(const TerminatedSkillStatus& d)
+ {
+ switch (d)
+ {
+ case TerminatedSkillStatus::Failed:
+ return SkillStatus::Failed;
+ case TerminatedSkillStatus::Succeeded:
+ return SkillStatus::Succeeded;
+ case TerminatedSkillStatus::Aborted:
+ return SkillStatus::Aborted;
+ }
+ throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
+ }
+
+ void toIce(provider::dto::Execution::Status& ret, const SkillStatus& status)
+ {
+ switch(status)
+ {
+ case SkillStatus::Idle:
+ ret = provider::dto::Execution::Status::Idle;
+ return;
+ case SkillStatus::Scheduled:
+ ret = provider::dto::Execution::Status::Scheduled;
+ return;
+ case SkillStatus::Running:
+ ret = provider::dto::Execution::Status::Running;
+ return;
+ case SkillStatus::Failed:
+ ret = provider::dto::Execution::Status::Failed;
+ return;
+ case SkillStatus::Succeeded:
+ ret = provider::dto::Execution::Status::Succeeded;
+ return;
+ case SkillStatus::Aborted:
+ ret = provider::dto::Execution::Status::Aborted;
+ return;
+ }
+ throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
+ }
+
+ void toIce(provider::dto::Execution::Status& ret, const ActiveOrTerminatedSkillStatus& status)
+ {
+ switch(status)
+ {
+ case ActiveOrTerminatedSkillStatus::Running:
+ ret = provider::dto::Execution::Status::Running;
+ return;
+ case ActiveOrTerminatedSkillStatus::Failed:
+ ret = provider::dto::Execution::Status::Failed;
+ return;
+ case ActiveOrTerminatedSkillStatus::Succeeded:
+ ret = provider::dto::Execution::Status::Succeeded;
+ return;
+ case ActiveOrTerminatedSkillStatus::Aborted:
+ ret = provider::dto::Execution::Status::Aborted;
+ return;
+ }
+ throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
+ }
+
+ void toIce(provider::dto::Execution::Status& ret, const TerminatedSkillStatus& status)
+ {
+ switch(status)
+ {
+ case TerminatedSkillStatus::Failed:
+ ret = provider::dto::Execution::Status::Failed;
+ return;
+ case TerminatedSkillStatus::Succeeded:
+ ret = provider::dto::Execution::Status::Succeeded;
+ return;
+ case TerminatedSkillStatus::Aborted:
+ ret = provider::dto::Execution::Status::Aborted;
+ return;
+ }
+ throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
+ }
+
+ void fromIce(const provider::dto::Execution::Status& status, TerminatedSkillStatus& ret)
+ {
+ switch(status)
+ {
+ case provider::dto::Execution::Status::Idle:
+ [[fallthrough]];
+ case provider::dto::Execution::Status::Scheduled:
+ [[fallthrough]];
+ case provider::dto::Execution::Status::Running:
+ break;
+ case provider::dto::Execution::Status::Failed:
+ ret = TerminatedSkillStatus::Failed;
+ return;
+ case provider::dto::Execution::Status::Succeeded:
+ ret = TerminatedSkillStatus::Succeeded;
+ return;
+ case provider::dto::Execution::Status::Aborted:
+ ret = TerminatedSkillStatus::Aborted;
+ return;
+ }
+ throw error::SkillException(__PRETTY_FUNCTION__, "You entered an invalid execution status type to convert to a terminating status.");
+ }
+
+ void fromIce(const provider::dto::Execution::Status& status, ActiveOrTerminatedSkillStatus& ret)
+ {
+ switch(status)
+ {
+ case provider::dto::Execution::Status::Idle:
+ [[fallthrough]];
+ case provider::dto::Execution::Status::Scheduled:
+ break;
+ case provider::dto::Execution::Status::Running:
+ ret = ActiveOrTerminatedSkillStatus::Running;
+ return;
+ case provider::dto::Execution::Status::Failed:
+ ret = ActiveOrTerminatedSkillStatus::Failed;
+ return;
+ case provider::dto::Execution::Status::Succeeded:
+ ret = ActiveOrTerminatedSkillStatus::Succeeded;
+ return;
+ case provider::dto::Execution::Status::Aborted:
+ ret = ActiveOrTerminatedSkillStatus::Aborted;
+ return;
+ }
+ throw error::SkillException(__PRETTY_FUNCTION__, "You entered an invalid execution status type to convert to a terminating status.");
+ }
+
+ void fromIce(const provider::dto::Execution::Status& status, SkillStatus& ret)
+ {
+ switch(status)
+ {
+ case provider::dto::Execution::Status::Idle:
+ ret = SkillStatus::Idle;
+ return;
+ case provider::dto::Execution::Status::Scheduled:
+ ret = SkillStatus::Scheduled;
+ return;
+ case provider::dto::Execution::Status::Running:
+ ret = SkillStatus::Running;
+ return;
+ case provider::dto::Execution::Status::Failed:
+ ret = SkillStatus::Failed;
+ return;
+ case provider::dto::Execution::Status::Succeeded:
+ ret = SkillStatus::Succeeded;
+ return;
+ case provider::dto::Execution::Status::Aborted:
+ ret = SkillStatus::Aborted;
+ return;
+ }
+ throw error::SkillException(__PRETTY_FUNCTION__, "Should not happen!");
+ }
+
+
+
+
+ provider::dto::SkillStatusUpdate TerminatedSkillStatusUpdate::toIce() const
+ {
+ provider::dto::SkillStatusUpdate ret;
+ ret.header.skillId = skillId.toIce();
+ ret.header.executorName = executorName;
+ ret.data = aron::data::Dict::ToAronDictDTO(data);
+ skills::toIce(ret.header.status, status);
+ ret.header.usedCallbackInterface = usedParameterization.usedCallbackInterface;
+ ret.header.usedParams = usedParameterization.toIce();
+ return ret;
+ }
+
provider::dto::SkillStatusUpdate SkillStatusUpdate::toIce() const
{
provider::dto::SkillStatusUpdate ret;
- ret.header.providerName = providerName;
- ret.header.skillName = skillName;
+ ret.header.skillId = skillId.toIce();
+ ret.header.executorName = executorName;
+ ret.data = aron::data::Dict::ToAronDictDTO(data);
+ skills::toIce(ret.header.status, status);
+ ret.header.usedCallbackInterface = usedParameterization.usedCallbackInterface;
+ ret.header.usedParams = usedParameterization.toIce();
+ return ret;
+ }
+
+ provider::dto::SkillStatusUpdate ActiveOrTerminatedSkillStatusUpdate::toIce() const
+ {
+ provider::dto::SkillStatusUpdate ret;
+ ret.header.skillId = skillId.toIce();
+ ret.header.executorName = executorName;
ret.data = aron::data::Dict::ToAronDictDTO(data);
- ret.header.status = status;
+ skills::toIce(ret.header.status, status);
ret.header.usedCallbackInterface = usedParameterization.usedCallbackInterface;
- ret.header.usedParams = aron::data::Dict::ToAronDictDTO(usedParameterization.usedInputParams);
+ ret.header.usedParams = usedParameterization.toIce();
+ return ret;
+ }
+
+ TerminatedSkillStatusUpdate TerminatedSkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update)
+ {
+ TerminatedSkillStatusUpdate ret;
+ ret.skillId = {update.header.skillId.providerName, update.header.skillId.skillName};
+ ret.executorName = update.header.executorName;
+ skills::fromIce(update.header.status, ret.status);
+ ret.usedParameterization = {aron::data::Dict::FromAronDictDTO(update.header.usedParams), update.header.usedCallbackInterface};
+ ret.data = aron::data::Dict::FromAronDictDTO(update.data);
+ return ret;
+ }
+
+ SkillStatusUpdate SkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update)
+ {
+ SkillStatusUpdate ret;
+ ret.skillId = {update.header.skillId.providerName, update.header.skillId.skillName};
+ ret.executorName = update.header.executorName;
+ skills::fromIce(update.header.status, ret.status);
+ ret.usedParameterization = {aron::data::Dict::FromAronDictDTO(update.header.usedParams), update.header.usedCallbackInterface};
+ ret.data = aron::data::Dict::FromAronDictDTO(update.data);
+ return ret;
+ }
+
+ ActiveOrTerminatedSkillStatusUpdate ActiveOrTerminatedSkillStatusUpdate::FromIce(const provider::dto::SkillStatusUpdate& update)
+ {
+ ActiveOrTerminatedSkillStatusUpdate ret;
+ ret.skillId = {update.header.skillId.providerName, update.header.skillId.skillName};
+ ret.executorName = update.header.executorName;
+ skills::fromIce(update.header.status, ret.status);
+ ret.usedParameterization = {aron::data::Dict::FromAronDictDTO(update.header.usedParams), update.header.usedCallbackInterface};
+ ret.data = aron::data::Dict::FromAronDictDTO(update.data);
return ret;
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
index 41a138832bd530d89de2d393335c0e5fbedbc21b..6e1ec3c169c01d337ddb94f337414f2443d11ff8 100644
--- a/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
+++ b/source/RobotAPI/libraries/skills/provider/SkillStatusUpdate.h
@@ -6,24 +6,85 @@
#include <RobotAPI/libraries/aron/core/data/variant/container/Dict.h>
#include <RobotAPI/interface/skills/SkillProviderInterface.h>
+#include "SkillID.h"
#include "SkillParameterization.h"
namespace armarx
{
namespace skills
{
- struct SkillStatusUpdate
+ enum class SkillStatus
+ {
+ Idle = 0,
+ Scheduled = 1,
+ Running = 2,
+ Failed = 4,
+ Succeeded = 8,
+ Aborted = 16
+ };
+
+ enum class ActiveOrTerminatedSkillStatus
+ {
+ Running = 2,
+ Failed = 4,
+ Succeeded = 8,
+ Aborted = 16
+ };
+
+ enum class TerminatedSkillStatus
+ {
+ Failed = 4,
+ Succeeded = 8,
+ Aborted = 16
+ };
+
+ SkillStatus toSkillStatus(const ActiveOrTerminatedSkillStatus&);
+ SkillStatus toSkillStatus(const TerminatedSkillStatus&);
+
+ void toIce(provider::dto::Execution::Status& ret, const SkillStatus& status);
+ void toIce(provider::dto::Execution::Status& ret, const ActiveOrTerminatedSkillStatus& status);
+ void toIce(provider::dto::Execution::Status& ret, const TerminatedSkillStatus& status);
+
+ void fromIce(const provider::dto::Execution::Status& status, TerminatedSkillStatus& ret);
+ void fromIce(const provider::dto::Execution::Status& status, ActiveOrTerminatedSkillStatus& ret);
+ void fromIce(const provider::dto::Execution::Status& status, SkillStatus& ret);
+
+ struct SkillStatusUpdateBase
{
// header
- std::string providerName = "";
- std::string skillName = "";
- provider::dto::Execution::Status status = provider::dto::Execution::Status::Idle;
+ SkillID skillId = {"NOT INITIALIZED YET", "NOT INITIALIZED YET"};
+ std::string executorName = "";
SkillParameterization usedParameterization;
// data
aron::data::DictPtr data = nullptr;
+ };
+
+ // Will be returned after the execution of a skill
+ struct TerminatedSkillStatusUpdate : public SkillStatusUpdateBase
+ {
+ TerminatedSkillStatus status = TerminatedSkillStatus::Failed;
+
+ provider::dto::SkillStatusUpdate toIce() const;
+ static TerminatedSkillStatusUpdate FromIce(const provider::dto::SkillStatusUpdate& update);
+ };
+
+ // Will be returned from periodic skills which can still run
+ struct ActiveOrTerminatedSkillStatusUpdate : public SkillStatusUpdateBase
+ {
+ ActiveOrTerminatedSkillStatus status = ActiveOrTerminatedSkillStatus::Failed;
+
+ provider::dto::SkillStatusUpdate toIce() const;
+ static ActiveOrTerminatedSkillStatusUpdate FromIce(const provider::dto::SkillStatusUpdate& update);
+ };
+
+ // Will be used as status updates from skills to the callback interface
+ struct SkillStatusUpdate : public SkillStatusUpdateBase
+ {
+ SkillStatus status = SkillStatus::Idle;
provider::dto::SkillStatusUpdate toIce() const;
+ static SkillStatusUpdate FromIce(const provider::dto::SkillStatusUpdate& update);
};
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
index b922bc341506606e337ef82bf12425a20cf1199b..9f554e11e5c878bdd77cd7c866bef6871b3c6584 100644
--- a/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
+++ b/source/RobotAPI/libraries/skills/provider/SpecializedSkill.h
@@ -17,6 +17,25 @@ namespace armarx
public:
using ParamType = AronT;
+ struct SpecializedInitInput
+ {
+ std::string executorName;
+ AronT params;
+ };
+
+ struct SpecializedMainInput
+ {
+ std::string executorName;
+ AronT params;
+ CallbackT callback;
+ };
+
+ struct SpecializedExitInput
+ {
+ std::string executorName;
+ AronT params;
+ };
+
using Skill::Skill;
virtual ~SpecializedSkill() = default;
@@ -26,57 +45,95 @@ namespace armarx
return AronT::ToAronType();
}
+ bool isSkillAvailable(const SpecializedInitInput& in) const
+ {
+ return this->isAvailable();
+ }
+
+ Skill::InitResult initSkill(const SpecializedInitInput& in)
+ {
+ Skill::_init();
+ return this->init(in);
+ }
+ Skill::MainResult mainOfSkill(const SpecializedMainInput& in)
+ {
+ Skill::_main();
+ return this->main(in);
+ }
+ Skill::ExitResult exitSkill(const SpecializedExitInput& in)
+ {
+ Skill::_exit();
+ return this->exit(in);
+ }
+
+ Skill::MainResult executeFullSkill(const SpecializedMainInput& in)
+ {
+ this->resetSkill();
+ this->initSkill(SpecializedInitInput({.executorName = in.executorName, .params = in.params}));
+ auto ret = this->mainOfSkill(in);
+ this->exit(SpecializedExitInput({.executorName = in.executorName, .params = in.params}));
+ return ret;
+ }
+
+ private:
+ virtual bool isAvailable(const SpecializedInitInput&) const
+ {
+ return true;
+ }
+
/// Override this method with the actual implementation. The callback is for status updates to the calling instance
- virtual Status main(const AronT& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; })
+ virtual Skill::InitResult init(const SpecializedInitInput&)
{
- (void) params;
- return Status::Succeeded;
+ return InitResult{.status = TerminatedSkillStatus::Succeeded};
}
- virtual void init(const AronT& params)
+ /// Override this method with the actual implementation. The callback is for status updates to the calling instance
+ virtual Skill::MainResult main(const SpecializedMainInput& in)
{
- (void) params;
+ ARMARX_IMPORTANT << "Dummy executing skill '" << description.skillName << "'. Please overwrite this method.";
+ return Skill::MainResult{.status = TerminatedSkillStatus::Succeeded, .data = nullptr};
}
- virtual void exit(const AronT& params)
+ /// Override this method with the actual implementation. The callback is for status updates to the calling instance
+ virtual Skill::ExitResult exit(const SpecializedExitInput&)
{
- (void) params;
+ return ExitResult{.status = TerminatedSkillStatus::Succeeded};
}
- Status execute(const AronT& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; })
+ /// Do not use anymore
+ bool isAvailable(const InitInput& in) const final
{
- return Skill::execute(params.toAron(), callback);
+ AronT p;
+ p.fromAron(in.params);
+
+ return isAvailable(SpecializedInitInput({.executorName = in.executorName, .params = p}));
}
/// Do not use anymore
- Status main(const aron::data::DictPtr& params, const CallbackT& callback = [](const aron::data::DictPtr& returnValue) { (void) returnValue; }) final
+ Skill::InitResult init(const InitInput& in) final
{
- Skill::main(params, callback);
AronT p;
- p.fromAron(params);
+ p.fromAron(in.params);
- return main(p, callback);
+ return init(SpecializedInitInput({.executorName = in.executorName, .params = p}));
}
/// Do not use anymore
- void init(const aron::data::DictPtr& params) final
+ Skill::MainResult main(const MainInput& in) final
{
- Skill::init(params);
AronT p;
- //ARMARX_IMPORTANT << aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(params).dump(2);
- p.fromAron(params);
+ p.fromAron(in.params);
- return init(p);
+ return main(SpecializedMainInput({.executorName = in.executorName, .params = p, .callback = in.callback}));
}
/// Do not use anymore
- void exit(const aron::data::DictPtr& params) final
+ Skill::ExitResult exit(const ExitInput& in) final
{
- Skill::exit(params);
AronT p;
- p.fromAron(params);
+ p.fromAron(in.params);
- exit(p);
+ return exit(SpecializedExitInput({.executorName = in.executorName, .params = p}));
}
};
}
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
index 50d95cade907d70b0f697589fb533dca5ea93f27..1fb8c3ac52010943e01b044d0e99ce144739a2b6 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.cpp
@@ -10,29 +10,33 @@ namespace armarx
ARMARX_CHECK_NOT_NULL(this->skill);
}
- void SkillImplementationWrapper::execute(const skills::SkillParameterization parameterization)
+ TerminatedSkillStatusUpdate SkillImplementationWrapper::setupAndExecuteSkill(const std::string& executorName, const skills::SkillParameterization parameterization)
{
std::unique_lock l(executingMutex);
const std::string skillName = skill->description.skillName;
ARMARX_INFO_S << "Executing skill: " << skillName;
- // reset Skill
- {
+ // reset execution params. This func is also used to clean up once this method returns
+ auto resetExecParam = [&](){
std::unique_lock l2(skillStatusMutex); // skill is not updating
- statusUpdate.status = skills::provider::dto::Execution::Status::Idle;
+ //statusUpdate.status = skills::provider::dto::Execution::Status::Idle; I decided to not update the status to idle every time the skill stops.
statusUpdate.data = nullptr;
- skill->reset();
- }
+ statusUpdate.executorName = "";
+ };
// set params and setup variables
- {
+ auto setExecParams = [&](){
std::lock_guard l(skillStatusMutex);
statusUpdate.usedParameterization = parameterization;
- }
+ statusUpdate.executorName = executorName;
+ };
+
+ resetExecParam();
+ setExecParams();
auto& aron_params = parameterization.usedInputParams;
- auto updateStatus = [&](const skills::provider::dto::Execution::Status status, const aron::data::DictPtr& data = nullptr){
+ auto updateStatus = [&](const SkillStatus status, const aron::data::DictPtr& data = nullptr){
std::lock_guard l(skillStatusMutex);
statusUpdate.status = status;
statusUpdate.data = data;
@@ -45,52 +49,174 @@ namespace armarx
}
};
+ auto createErrorMessage = [](const std::string& message){
+ auto obj = aron::make_dict();
+ auto m = aron::make_string(message, aron::Path({"errormessage"}));
+ obj->addElement("errormessage", m);
+ return obj;
+ };
+
+ // Check params
+ if (skill->description.acceptedType && not(aron_params))
+ {
+ std::string message = "SkillError 001: The Skill '" + skillName + "' requires a type but params are NULL.";
+ ARMARX_ERROR_S << message;
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ }
+
+ if (skill->description.acceptedType && aron_params && not(aron_params->fullfillsType(skill->description.acceptedType)))
+ {
+ std::string message = "SkillError 002: The Skill '" + skillName + "' has a type and got parameters but the input does not match the type.";
+ ARMARX_ERROR_S << message;
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ }
+
+ // Check if skill is available with the given parameterization
try
{
- // Check params
- if (not(aron_params) && skill->description.acceptedType)
+ if (not skill->isSkillAvailable(Skill::InitInput{.executorName = executorName, .params = aron_params}))
{
- throw armarx::LocalException("The Skill '" + skillName + "' requires a type but no params are NULL.");
+ std::string message = "SkillError 101: The Skill '" + skillName + "' is not available.";
+ ARMARX_WARNING << message;
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
}
+ }
+ catch (const std::exception& ex)
+ {
+ std::string message = "SkillError 101e: An error occured during the check whether skill '" + skillName + "' is available. The error was: " + ex.what();
+ ARMARX_ERROR_S << message;
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ }
- // set scheduled
- updateStatus(skills::provider::dto::Execution::Status::Scheduled);
+ // set scheduled
+ updateStatus(SkillStatus::Scheduled);
- // execute
- updateStatus(skills::provider::dto::Execution::Status::Running);
+ // reset skill and perhaps wait for dependencies
+ try
+ {
+ skill->resetSkill();
+ }
+ catch (const std::exception& ex)
+ {
+ std::string message = "SkillError 201e: An error occured during the reset of skill '" + skillName + "'. The error was: " + ex.what();
+ ARMARX_ERROR_S << message;
+
+ updateStatus(SkillStatus::Failed);
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ }
+
+ try
+ {
+ skill->waitForDependenciesOfSkill();
+ }
+ catch (const std::exception& ex)
+ {
+ std::string message = "SkillError 301e: An error occured during waiting for skill dependencies of skill '" + skillName + "'. The error was: " + ex.what();
+ ARMARX_ERROR_S << message;
+
+ updateStatus(SkillStatus::Failed);
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ }
- skill->init(aron_params);
- auto ret = skill->main(aron_params, [&](const aron::data::DictPtr& update)
- {
- updateStatus(statusUpdate.status, update);
- });
- skill->exit(aron_params);
+ // execute. If the skill fails for some reason, from this point it will always execute its exit function.
+ updateStatus(SkillStatus::Running);
- switch (ret)
+
+ try
+ {
+ Skill::InitResult initRet = skill->initSkill({executorName, aron_params});
+ if (initRet.status != TerminatedSkillStatus::Succeeded)
{
- case skills::Skill::Status::Failed:
- throw armarx::LocalException("The Skill '" + skillName + "' failed during execution.");
- break;
- case skills::Skill::Status::TimeoutReached:
- throw armarx::LocalException("The Skill '" + skillName + "' reached timeout during execution.");
- break;
- case skills::Skill::Status::Stopped:
- {
- updateStatus(skills::provider::dto::Execution::Status::Aborted);
- break;
- }
- case skills::Skill::Status::Succeeded:
- {
- updateStatus(skills::provider::dto::Execution::Status::Succeeded);
- break;
- }
+ std::string message = "SkillError 401: The initialization of skill '" + skillName + "' did not succeed.";
+ skill->exitSkill({executorName, aron_params}); // try to exit skill. Ignore return value
+
+ updateStatus(skills::toSkillStatus(initRet.status));
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, initRet.status});
}
}
catch (const std::exception& ex)
{
- ARMARX_WARNING_S << "Skill " << skillName << " died with exception:\n" << ex.what();
- updateStatus(skills::provider::dto::Execution::Status::Failed);
+ std::string message = "SkillError 401e: An error occured during the initialization of skill '" + skillName + "'. The error was: " + ex.what();
+ ARMARX_ERROR_S << message;
+ skill->exitSkill({executorName, aron_params}); // try to exit skill. Ignore return value
+
+ updateStatus(SkillStatus::Failed);
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
}
+ // Init succeeded!
+
+
+ Skill::MainResult mainRet;
+ try
+ {
+ mainRet = skill->mainOfSkill({executorName, aron_params, [&updateStatus](const aron::data::DictPtr& update)
+ {
+ // during execution the statusUpdate.status is always RUNNING
+ updateStatus(SkillStatus::Running, update);
+ }});
+ if (mainRet.status != TerminatedSkillStatus::Succeeded)
+ {
+ std::string message = "SkillError 501: The main method of skill '" + skillName + "' did not succeed.";
+ skill->exitSkill({executorName, aron_params}); // try to exit skill. Ignore return value
+
+ updateStatus(skills::toSkillStatus(mainRet.status));
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, mainRet.status});
+ }
+ }
+ catch (const std::exception& ex)
+ {
+ std::string message = "SkillError 501e: An error occured during the main method of skill '" + skillName + "'. The error was: " + ex.what();
+ ARMARX_ERROR_S << message;
+ skill->exitSkill({executorName, aron_params}); // try to exit skill. Ignore return value
+
+ updateStatus(SkillStatus::Failed);
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ }
+ // Main succeeded!
+
+ try
+ {
+ Skill::ExitResult exitRet = skill->exitSkill({executorName, aron_params});
+ if (exitRet.status != TerminatedSkillStatus::Succeeded)
+ {
+ std::string message = "SkillError 601: The exit method of skill '" + skillName + "' did not succeed.";
+ skill->exitSkill({executorName, aron_params}); // try to exit skill. Ignore return value
+
+ updateStatus(skills::toSkillStatus(exitRet.status));
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, exitRet.status});
+ }
+ }
+ catch (const std::exception& ex)
+ {
+ std::string message = "SkillError 601e: An error occured during the exit method of skill '" + skillName + "'. The error was: " + ex.what();
+ ARMARX_ERROR_S << message;
+
+ updateStatus(SkillStatus::Failed);
+ resetExecParam();
+ return TerminatedSkillStatusUpdate({{skill->getSkillId(), executorName, parameterization, createErrorMessage(message)}, TerminatedSkillStatus::Failed});
+ }
+ // Exit succeeded!
+
+
+ // All succeeded!
+ updateStatus(SkillStatus::Succeeded);
+
+ // Tidy up
+ resetExecParam();
+
+ // return result of main method
+ return {{skill->getSkillId(), executorName, parameterization, mainRet.data}, TerminatedSkillStatus::Succeeded};
}
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
index f06420a2f1eef85a3e2df36d2471de55bab930e7..982bcc366dd415ceb85ce055a35992ae99a8165f 100644
--- a/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
+++ b/source/RobotAPI/libraries/skills/provider/detail/SkillImplementationWrapper.h
@@ -29,10 +29,12 @@ namespace armarx
// Task information
mutable std::shared_mutex executingMutex;
+ // ctor
SkillImplementationWrapper(std::unique_ptr<skills::Skill>&& skill);
- // execute a skill. The parameterization is copied
- void execute(const skills::SkillParameterization);
+ // execute a skill. The parameterization is copied. T
+ // the return type additionally contains the input configuration (similar to the status updates used in callbacks)
+ TerminatedSkillStatusUpdate setupAndExecuteSkill(const std::string& executorName, const skills::SkillParameterization);
};
}
}
diff --git a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp b/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp
deleted file mode 100644
index 25f589aab97d6ecd2f7c680dd5b5dfdfc5072052..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/skills/provider/helper/LambdaSkillImplementation.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "LambdaSkillImplementation.h"
-
-namespace armarx
-{
- namespace skills::helper
- {
-
- Skill::Status LambdaSkill::main(const aron::data::DictPtr& data, const CallbackT& callback)
- {
- (void) callback;
- bool res = fun(data);
- return res ? Status::Succeeded : Status::Failed;
- }
- }
-}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/All.h b/source/RobotAPI/libraries/skills/provider/mixins/All.h
new file mode 100644
index 0000000000000000000000000000000000000000..7f74ab14ff3d6f438c4343996852fb3065841c68
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/All.h
@@ -0,0 +1,7 @@
+#include "ArvizSkillMixin.h"
+#include "MNSSkillMixin.h"
+#include "GraspReadingSkillMixin.h"
+#include "MemoryReadingSkillMixin.h"
+#include "ObjectReadingSkillMixin.h"
+#include "ObjectWritingSkillMixin.h"
+#include "RobotReadingSkillMixin.h"
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/ArvizSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/ArvizSkillMixin.h
new file mode 100644
index 0000000000000000000000000000000000000000..7b77cb543cb1c853f565cc4fc51d06181cca61ab
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/ArvizSkillMixin.h
@@ -0,0 +1,26 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
+
+namespace armarx::skills::mixin
+{
+ struct ArvizSkillMixin
+ {
+ armarx::viz::Client arviz;
+ std::string layerName;
+
+ ArvizSkillMixin(const armarx::viz::Client& a, const std::string& ln) :
+ arviz(a),
+ layerName(ln)
+ {
+ }
+
+ void clearLayer()
+ {
+ auto l = arviz.layer(layerName);
+ arviz.commit(l);
+ }
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/GraspReadingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/GraspReadingSkillMixin.h
new file mode 100644
index 0000000000000000000000000000000000000000..d69f390dadcb7eb0daed57f8f7a82148c055fb52
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/GraspReadingSkillMixin.h
@@ -0,0 +1,25 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/armem_grasping/client/KnownGraspCandidateReader.h>
+
+namespace armarx::skills::mixin
+{
+ struct GraspReadingSkillMixin
+ {
+ armem::grasping::known_grasps::Reader graspReader;
+
+ GraspReadingSkillMixin(armem::client::MemoryNameSystem& mns) : graspReader(mns)
+ {}
+ };
+
+ struct SpecificGraspReadingSkillMixin
+ {
+ std::string objectEntityId;
+ armem::grasping::known_grasps::Reader graspReader;
+
+ SpecificGraspReadingSkillMixin(const std::string& n, armem::client::MemoryNameSystem& mns) : objectEntityId(n), graspReader(mns)
+ {}
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/MNSSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/MNSSkillMixin.h
new file mode 100644
index 0000000000000000000000000000000000000000..f0bde8bdf665d23f3bbe59d060d74f010fd29d3f
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/MNSSkillMixin.h
@@ -0,0 +1,16 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+namespace armarx::skills::mixin
+{
+ struct MNSSkillMixin
+ {
+ armem::client::MemoryNameSystem mns;
+
+ MNSSkillMixin(const armem::client::MemoryNameSystem& m) : mns(m)
+ {}
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/MemoryReadingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/MemoryReadingSkillMixin.h
new file mode 100644
index 0000000000000000000000000000000000000000..214fbac445e675d2bde67ae38372fa271a30b504
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/MemoryReadingSkillMixin.h
@@ -0,0 +1,16 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/armem/client/Reader.h>
+
+namespace armarx::skills::mixin
+{
+ struct MemoryReadingSkillMixin
+ {
+ armem::client::Reader memoryReader;
+
+ //MemoryReadingSkillMixin(armem::client::MemoryNameSystem& mns) : memoryReader(mns)
+ //{}
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/ObjectReadingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/ObjectReadingSkillMixin.h
new file mode 100644
index 0000000000000000000000000000000000000000..de5ef34b1dc448edc4a8ba634ad74600c7d33da4
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/ObjectReadingSkillMixin.h
@@ -0,0 +1,25 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/armem_objects/client/instance/ObjectReader.h>
+
+namespace armarx::skills::mixin
+{
+ struct ObjectReadingSkillMixin
+ {
+ armem::obj::instance::Reader objectReader;
+
+ ObjectReadingSkillMixin(armem::client::MemoryNameSystem& mns, const objpose::ObjectPoseProviderPrx& o) : objectReader(mns, o)
+ {}
+ };
+
+ struct SpecificObjectReadingSkillMixin
+ {
+ std::string objectEntityId;
+ armem::obj::instance::Reader objectReader;
+
+ SpecificObjectReadingSkillMixin(const std::string& n, armem::client::MemoryNameSystem& mns, const objpose::ObjectPoseProviderPrx& o) : objectEntityId(n), objectReader(mns, o)
+ {}
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/ObjectWritingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/ObjectWritingSkillMixin.h
new file mode 100644
index 0000000000000000000000000000000000000000..edf8e6a2ef7360417f2e951ed36e0b24c62f4cef
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/ObjectWritingSkillMixin.h
@@ -0,0 +1,16 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/armem_objects/client/instance/ObjectWriter.h>
+
+namespace armarx::skills::mixin
+{
+ struct ObjectWritingSkillMixin
+ {
+ armem::obj::instance::Writer objectWriter;
+
+ ObjectWritingSkillMixin(armem::client::MemoryNameSystem& mns) : objectWriter(mns)
+ {}
+ };
+}
diff --git a/source/RobotAPI/libraries/skills/provider/mixins/RobotReadingSkillMixin.h b/source/RobotAPI/libraries/skills/provider/mixins/RobotReadingSkillMixin.h
new file mode 100644
index 0000000000000000000000000000000000000000..631491ddcfb70a7fc1c6930317d30bbb3c969dca
--- /dev/null
+++ b/source/RobotAPI/libraries/skills/provider/mixins/RobotReadingSkillMixin.h
@@ -0,0 +1,28 @@
+#pragma once
+
+
+// Others
+#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
+
+namespace armarx::skills::mixin
+{
+ struct RobotReadingSkillMixin
+ {
+ armem::robot_state::VirtualRobotReader robotReader;
+
+ RobotReadingSkillMixin(armem::client::MemoryNameSystem& mns) :
+ robotReader(mns)
+ {}
+ };
+
+ struct SpecificRobotReadingSkillMixin
+ {
+ std::string robotName;
+ armem::robot_state::VirtualRobotReader robotReader;
+
+ SpecificRobotReadingSkillMixin(const std::string& rn, armem::client::MemoryNameSystem& mns) :
+ robotName(rn),
+ robotReader(mns)
+ {}
+ };
+}
diff --git a/source/RobotAPI/libraries/ukfm/CMakeLists.txt b/source/RobotAPI/libraries/ukfm/CMakeLists.txt
index 96259ddebcdd577a2e049a2e9dda7546b76f46e4..798d6767bec35847f7f86e3cd64a5db5083ed230 100644
--- a/source/RobotAPI/libraries/ukfm/CMakeLists.txt
+++ b/source/RobotAPI/libraries/ukfm/CMakeLists.txt
@@ -3,10 +3,7 @@ set(LIB_NAME ukfm)
armarx_component_set_name("${LIB_NAME}")
armarx_set_target("Library: ${LIB_NAME}")
-find_package(manif QUIET)
armarx_build_if(manif_FOUND "manif not available")
-
-find_package(Eigen3 QUIET)
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
set(LIBS