Add RobotStatePredictionClientExample

source/RobotAPI/components/armem/client/CMakeLists.txt

 add_subdirectory(ExampleMemoryClient)
 add_subdirectory(GraspProviderExample)
-add_subdirectory(VirtualRobotWriterExample)
-add_subdirectory(VirtualRobotReaderExampleClient)
+add_subdirectory(RobotStatePredictionClientExample)
 add_subdirectory(SimpleVirtualRobot)
+add_subdirectory(VirtualRobotReaderExampleClient)
+add_subdirectory(VirtualRobotWriterExample)

source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/CMakeLists.txt

+armarx_component_set_name(RobotStatePredictionClientExample)
+
+
+set(COMPONENT_LIBS
+    # ArmarXCore
+    ArmarXCore ArmarXCoreInterfaces
+    # ArmarxGui
+    ArmarXGuiComponentPlugins
+    # RobotAPI
+    armem
+)
+
+set(SOURCES
+    RobotStatePredictionClientExample.cpp
+)
+
+set(HEADERS
+    RobotStatePredictionClientExample.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+
+# Generate the application.
+armarx_generate_and_add_component_executable()

source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClientExample.cpp

+/*
+ * 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 <SimoxUtility/color/cmaps.h>
+#include <SimoxUtility/math/pose/pose.h>
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/time/CycleUtil.h>
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
+
+
+namespace armarx
+{
+
+    armarx::PropertyDefinitionsPtr RobotStatePredictionClientExample::createPropertyDefinitions()
+    {
+        armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+
+        // defs->optional(p.usedMemoryName, "mem.UsedMemoryName", "Name of the memory to use.");
+        // defs->optional(p.commitFrequency, "ex.CommitFrequency", "Frequency in which example data is commited. (max = 50Hz)");
+
+        return defs;
+    }
+
+
+    std::string RobotStatePredictionClientExample::getDefaultName() const
+    {
+        return "RobotStatePredictionClientExample";
+    }
+
+
+    void RobotStatePredictionClientExample::onInitComponent()
+    {
+    }
+
+
+    void RobotStatePredictionClientExample::onConnectComponent()
+    {
+        try
+        {
+            memoryReader = memoryNameSystem().useReader(armem::MemoryID("RobotState"));
+        }
+        catch (const armem::error::CouldNotResolveMemoryServer& e)
+        {
+            ARMARX_ERROR << e.what();
+            return;
+        }
+
+        task = new armarx::SimpleRunningTask<>([this]() { this->run(); });
+        task->start();
+
+        createRemoteGuiTab();
+        RemoteGui_startRunningTask();
+    }
+
+
+    void RobotStatePredictionClientExample::onDisconnectComponent()
+    {
+        task->stop();
+    }
+
+
+    void RobotStatePredictionClientExample::onExitComponent()
+    {
+    }
+
+
+    void RobotStatePredictionClientExample::run()
+    {
+
+    }
+
+
+    void RobotStatePredictionClientExample::createRemoteGuiTab()
+    {
+        using namespace armarx::RemoteGui::Client;
+
+        VBoxLayout root = {VSpacer()};
+        RemoteGui_createTab(getName(), root, &tab);
+    }
+
+    void RobotStatePredictionClientExample::RemoteGui_update()
+    {
+        /*
+        if (tab.rebuild.exchange(false))
+        {
+            createRemoteGuiTab();
+        }
+        */
+    }
+
+}

source/RobotAPI/components/armem/client/RobotStatePredictionClientExample/RobotStatePredictionClientExample.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    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 <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
+#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/client/Writer.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/util/tasks.h>
+
+
+namespace armarx
+{
+
+    /**
+     * @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 RobotStatePredictionClientExample :
+        virtual public armarx::Component,
+        virtual public armarx::armem::ClientPluginUser,
+        virtual public armarx::LightweightRemoteGuiComponentPluginUser
+    {
+    public:
+
+        /// @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;
+
+        void run();
+
+
+    private:
+
+        struct Properties
+        {
+            float commitFrequency = 10;
+        };
+        Properties properties;
+
+        armarx::SimpleRunningTask<>::pointer_type task;
+
+        armem::client::Reader memoryReader;
+
+
+        struct RemoteGuiTab : RemoteGui::Client::Tab
+        {
+        };
+        RemoteGuiTab tab;
+
+    };
+}