.gitignore

@@ -2,9 +2,13 @@
 !/build/.gitkeep
 !.gitkeep
 !.gitignore
+.idea
 
 source/*/Test.h
 
+// ignore Aron files
+*.aron.generated.h
+
 *.bak
 *#
 .#*
@@ -13,11 +17,14 @@ source/*/Test.h
 .*.kate-swp
 .*.swo
 *.pyc
+*.orig
 
 .DS_Store
 CMakeFiles
 CMakeCache.txt
 CMakeLists.txt.user*
+*.autosave
+*~
 
 *.o
 *.os
@@ -36,25 +43,38 @@ moc_*
 .cproject
 .project
 
-# clion stuff
-/.idea
-
 # MemoryX
 .cache
 mongod.log*
 data/db/
 data/dbdump/
 
+# Test files
+*.roundtriptest
+
 # Generated Scenario Files
-scenarios/*/startScenario.sh
-scenarios/*/stopScenario.sh
-scenarios/*/ttyACM*.js
-scenarios/*/ttyACM*.log
-scenarios/*/config/datapath.cfg
-scenarios/*/*/startScenario.sh
-scenarios/*/*/stopScenario.sh
-scenarios/*/*/ttyACM*.js
-scenarios/*/*/ttyACM*.log
-scenarios/*/*/config/datapath.cfg
+startScenario.sh
+stopScenario.sh
+ttyACM*.js
+ttyACM*.log
+datapath*.cfg
 
 *.icegrid.xml
+data/RobotAPI/logs
+
+worktree/
+
+etc/python/armarx.egg-info/
+etc/python/build/*
+etc/python/dist/*
+
+.cmake/api/v1/query/cache-v2
+.cmake/api/v1/query/codemodel-v2
+.cmake/api/v1/query/cmakeFiles-v1
+
+# ArViz Recordings
+data/RobotAPI/ArVizStorage/
+
+.vscode/
+.clang-format
+.clang-tidy

.gitlab-ci.yml

+stages:
+  - build-and-test
+  - deploy
+  - post-deploy-test
+
+
+.build-and-test:
+
+  cache:
+    # https://docs.gitlab.com/ee/ci/caching/#share-caches-across-jobs-in-different-branches
+    key: one-key-to-rule-them-all
+    paths:
+      - .apt
+      - .ccache
+
+  before_script:
+    # Apt cache configuration.
+    - rm -rf /var/cache/apt/archives || true
+    - rm -f /etc/apt/apt.conf.d/docker-clean  # Remove docker-clean script to avoid cache deletion.
+    - mkdir .apt || true
+    - ln -s "$CI_PROJECT_DIR/.apt" /var/cache/apt/archives
+
+    # Update apt info.
+    - apt-get update
+
+    # Ccache configuration and introspection.
+    - apt-get install ccache --yes
+    - ccache --set-config=cache_dir="$CI_PROJECT_DIR/.ccache"
+    - ccache --max-size=20G
+    - ccache --show-stats
+
+    # Activate Axii.
+    - source /axii/scripts/install_axii.sh
+    - _axii_auto_env_refresh
+
+  script:
+    - echo "ArmarX Workspace = '$ARMARX_WORKSPACE'"
+
+    # Use workspace configuration from project.
+    - cp "$CI_PROJECT_DIR/.gitlab/ci/armarx-workspace.json" "$ARMARX_WORKSPACE/armarx-workspace.json"
+    - cat "$ARMARX_WORKSPACE/armarx-workspace.json"
+
+    - axii workspace env
+    - _axii_auto_env_refresh
+
+    - echo "Workspace information:"
+    - axii workspace list-modules
+    - axii workspace list-modules --deps
+    - axii workspace info
+
+    - export PROJECT_MODULE="armarx/RobotAPI"
+    - export PROJECT_PATH_IN_WORKSPACE="$armarx__RobotAPI__PATH"
+
+    # Symlink project directory into Axii workspace.
+    - mkdir -p "$(dirname $PROJECT_PATH_IN_WORKSPACE)"
+    - ln -s "$CI_PROJECT_DIR" "$PROJECT_PATH_IN_WORKSPACE"
+
+    # Fix "CMake Error in CMakeLists.txt: Imported target "VirtualRobot" includes non-existent path "/usr/lib/include"
+    # (caused by at least dmp)
+    - mkdir -p /usr/lib/include
+
+    # Upgrade.
+    - axii workspace system --accept-apt-install
+    - axii workspace update --prefer-https
+    - axii workspace upgrade -m "$PROJECT_MODULE"
+
+    - ccache --show-stats
+
+    # Test.
+    # ToDo: Add and use `axii ws test -m "$PROJECT_MODULE"`
+    - cd "$PROJECT_PATH_IN_WORKSPACE/build"
+    - ctest --output-on-failure --output-junit "$CI_PROJECT_DIR/report.xml" .
+
+  artifacts:
+    reports:
+      junit: report.xml
+
+
+build-and-test-bionic:
+  stage: build-and-test
+  extends: .build-and-test
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/armarx-gui:latest-bionic
+
+
+build-and-test-jammy:
+  stage: build-and-test
+  extends: .build-and-test
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/armarx-gui:latest-jammy
+
+
+docker-bionic:
+  stage: deploy
+  needs: ["build-and-test-bionic"]
+  image:
+    name: gcr.io/kaniko-project/executor:v1.9.0-debug
+    entrypoint: [""]
+  script:
+    - /kaniko/executor
+      --context "${CI_PROJECT_DIR}"
+      --dockerfile "${CI_PROJECT_DIR}/docker/bionic"
+      --destination "${CI_REGISTRY_IMAGE}:latest-bionic"
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+docker-jammy:
+  stage: deploy
+  needs: ["build-and-test-jammy"]
+  image:
+    name: gcr.io/kaniko-project/executor:v1.9.0-debug
+    entrypoint: [""]
+  script:
+    - /kaniko/executor
+      --context "${CI_PROJECT_DIR}"
+      --dockerfile "${CI_PROJECT_DIR}/docker/jammy"
+      --destination "${CI_REGISTRY_IMAGE}:latest-jammy"
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+.test-docker-image-common:
+
+  before_script:
+    - source /axii/scripts/install_axii.sh
+    - _axii_auto_env_refresh
+
+  script:
+    - echo "ArmarX Workspace = '$ARMARX_WORKSPACE'"
+    - printenv
+
+    - axii workspace list-modules
+    - axii workspace list-modules --deps
+    - axii workspace info
+    - echo "RobotAPI directory = '$RobotAPI_DIR'"
+
+    - which armarx
+    - which armarx-package
+
+    - armarx switch docker_test --ice-host 127.0.0.1 --ice-port 10000 --ice-default-host 127.0.0.1 --mongo-host 127.0.0.1 --mongo-port 10001
+    - armarx profile
+    - armarx status || true
+
+    - cd $ArmarXGui_DIR
+    - ctest --output-on-failure .
+
+
+test-docker-image-bionic:
+  stage: post-deploy-test
+  needs: ["docker-bionic"]
+  extends: .test-docker-image-common
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/robot-api:latest-bionic
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+test-docker-image-jammy:
+  stage: post-deploy-test
+  needs: ["docker-jammy"]
+  extends: .test-docker-image-common
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/robot-api:latest-jammy
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"

.gitlab/CODEOWNERS

+# ARON
+##########################
+
+/source/RobotAPI/libraries/aron/ @plewnia @hyseni
+
+/source/RobotAPI/interface/aron/ @plewnia @hyseni
+/source/RobotAPI/interface/aron.ice @plewnia @hyseni @dreher
+
+
+# ArMem
+##########################
+
+/source/RobotAPI/components/armem/ @plewnia
+/source/RobotAPI/libraries/armem/ @plewnia
+
+/source/RobotAPI/interface/armem/ @plewnia
+/source/RobotAPI/interface/armem.ice @plewnia @dreher
+
+
+# ArMem client / helper libraries
+##########################
+
+/source/RobotAPI/libraries/armem_grasping/ @hyseni @reister
+/source/RobotAPI/libraries/armem_gui/ @plewnia
+/source/RobotAPI/libraries/armem_index/ @plewnia
+/source/RobotAPI/libraries/armem_laser_scans/ @reister
+/source/RobotAPI/libraries/armem_locations/ @plewnia
+# /source/RobotAPI/libraries/armem_motions/
+# /source/RobotAPI/libraries/armem_mps/
+/source/RobotAPI/libraries/armem_objects/ @reister
+# /source/RobotAPI/libraries/armem_reasoning/ 
+/source/RobotAPI/libraries/armem_robot_state/ @reister
+# /source/RobotAPI/libraries/armem_skills see below
+# /source/RobotAPI/libraries/armem_system_state/ 
+# /source/RobotAPI/libraries/armem_vision/ 
+
+
+# Skill framework
+##########################
+
+/source/RobotAPI/interface/skills @meixner @rietsch
+/source/RobotAPI/libraries/skills @meixner @rietsch
+/source/RobotAPI/libraries/armem_skills @meixner @rietsch
+
+# ArViz
+##########################
+
+/source/RobotAPI/components/ArViz @daab @meixner
+
+
+# Others
+##########################
+
+/source/RobotAPI/libraries/ArmarXObjects @reister
+/source/RobotAPI/libraries/diffik @meixner
+/source/RobotAPI/libraries/natik @meixner

.gitlab/ci/armarx-workspace.json

+{
+  "modules": {
+    "tools/ccache/default": {},
+    "armarx/RobotAPI": {}
+  },
+  "global": {
+    "prepare": {
+      "cmake": {
+        "definitions": {
+          "CMAKE_BUILD_TYPE": "RelWithDebInfo",
+          "CMAKE_C_COMPILER_LAUNCHER": "$CCACHE",
+          "CMAKE_CXX_COMPILER_LAUNCHER": "$CCACHE"
+        }
+      }
+    }
+  }
+}

CMakeLists.txt

 # RobotAPI
+cmake_minimum_required(VERSION 3.10.2)
 
-cmake_minimum_required(VERSION 2.8)
+if(POLICY CMP0043)
+    cmake_policy(SET CMP0043 OLD)
+endif()
 
 find_package("ArmarXCore" REQUIRED
     PATHS "$ENV{HOME}/armarx/Core/build"
@@ -12,24 +15,34 @@ set(ARMARX_ENABLE_DEPENDENCY_VERSION_CHECK_DEFAULT TRUE)
 set(ARMARX_ENABLE_AUTO_CODE_FORMATTING TRUE)
 
 armarx_project("RobotAPI")
-depends_on_armarx_package(ArmarXGui "OPTIONAL")
-
-set(ArmarX_Simox_VERSION 2.3.48)
-option(REQUIRE_SIMOX "If enabled the Simox dependency is a required dependency" TRUE)
+depends_on_armarx_package(ArmarXGui)
 
-if(REQUIRE_SIMOX)
-    find_package(Simox ${ArmarX_Simox_VERSION} REQUIRED)
-else()
-    find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
-endif()
-if (Simox_FOUND)
-	setupSimoxExternalLibraries()
-endif()
+find_package(DMP QUIET)
+find_package(OpenCV QUIET)
+find_package(IVT COMPONENTS ivt ivtopencv QUIET)
+find_package(manif QUIET)
 
 add_subdirectory(source)
 
-list(APPEND CPACK_DEBIAN_PACKAGE_DEPENDS "simox (>= ${ArmarX_Simox_VERSION})")
-
 install_project()
 
 add_subdirectory(scenarios)
+
+
+if (TRUE)
+    find_package(libmongocxx QUIET)
+    find_package(libbsoncxx QUIET)
+    if (NOT libbsoncxx_FOUND OR NOT libbsoncxx_FOUND)
+        string(ASCII 27 Esc)
+        set(BoldYellow  "${Esc}[1;33m")
+        set(ColourReset "${Esc}[m")
+
+        message(WARNING "${BoldYellow}\
+    The packages libbsoncxx or libbsoncxx not found. \
+    They are required to build the memory system (armem and related libraries). \
+    Please use this installation script to install libmongocxx and libbsoncxx:
+    cd ${PROJECT_SOURCE_DIR}/etc/mongocxx/ && ./install_mongocxx.sh ~/repos \
+    or run 'cmake -DCMAKE_PREFIX_PATH=$mongocxx_install_dir' if you have mongocxx already installed \
+    ${ColourReset}")
+    endif()
+endif()

README.md

+# RobotAPI
+
+[Online Documentation](https://armarx.humanoids.kit.edu/d4/da3/RobotAPI-Overview.html),
+in particular on
+[ARON ("ArmarX Object Notation") / IDF (Interpretable Data Format)](https://armarx.humanoids.kit.edu/d9/d51/aron.html)
+and
+[ArMem ("ArmarX Memory Framework")](https://armarx.humanoids.kit.edu/d5/d6e/memory_system.html)
\ No newline at end of file

README.txt

-Stub to make the package tool work.

data/RobotAPI/ArMemStorage/README

+This is the default folder where ArMem stores episodes

data/RobotAPI/ArVizStorage/README

+This is the default folder where ArViz stores recordings