robot state memory update

Disclaimer: sorry, a bit messy; more changes than initially expected due to changes in base class: MemoryConnector.h (now using a PluginUser class) has been removed. The PR https://gitlab.com/ArmarX/RobotAPI/-/merge_requests/141 should be merged first as I started from there.

Changes to RobotStateMemory:

• The robot state memory now has 3 segments: Localization, Proprioception and Description. The latter stores the robot description, so to say the "information to instantiate a robot model". Currently, I only store a XML file link there, but in the future, it should be the robot nodes and its properties to track changes over time (e.g. installing a new camera, changing hands, ...)
• The robot state memory core segments are now implemented in separate files, each is called Segment.h, similar to the object memory. This segment class has an attached visu class to allow memory-side visualization (to ArViz). Visualization can be turned on and off via properties.
• as the robot state memory and the object memory (the articulated objects in particular) use the same XML Aron definitions, e.g. Robot, RobotDescription and RobotState, there is a new library armem_robot to avoid dependencies between armem_robot_state and armem_objects.

Further changes:

• All my memory client classes, e.g. TransformReader are now refactored: As mentioned, the MemoryConnector class is now gone and replaced by memory Client**ComponentPluginUser classes.

source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp

+#include "Segment.h"
+
+#include <mutex>
+#include <sstream>
+
+#include <ArmarXCore/core/time/TimeUtil.h>
+#include "ArmarXCore/core/logging/Logging.h"
+
+#include "RobotAPI/libraries/armem_robot_state/types.h"
+#include "RobotAPI/libraries/aron/common/aron_conversions.h"
+
+#include <RobotAPI/libraries/armem/core/aron_conversions.h>
+#include <RobotAPI/libraries/armem/core/workingmemory/Visitor.h>
+#include "RobotAPI/libraries/armem/core/MemoryID.h"
+#include <RobotAPI/libraries/armem/client/Writer.h>
+#include <RobotAPI/libraries/armem/client/query/Builder.h>
+#include <RobotAPI/libraries/armem/client/query/query_fns.h>
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+
+#include "RobotAPI/libraries/armem_robot/robot_conversions.h"
+#include <RobotAPI/libraries/armem_robot/aron/Robot.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/aron/JointState.aron.generated.h>
+
+#include <RobotAPI/libraries/armem_objects/aron_conversions.h>
+
+#include <RobotAPI/libraries/armem/util/util.h>
+
+
+namespace armarx::armem::server::robot_state::proprioception
+{
+
+    Segment::Segment(armem::server::MemoryToIceAdapter& memoryToIceAdapter, std::mutex& memoryMutex) :
+        iceMemory(memoryToIceAdapter),
+        memoryMutex(memoryMutex)
+    {
+        Logging::setTag("ProprioceptionSegment");
+    }
+
+    Segment::~Segment() = default;
+
+    void Segment::defineProperties(armarx::PropertyDefinitionsPtr defs, const std::string& prefix)
+    {
+        defs->optional(p.coreSegment, prefix + "seg.proprioception.CoreSegment", "Name of the object instance core segment.");
+        defs->optional(p.maxHistorySize, prefix + "seg.proprioception.MaxHistorySize", "Maximal size of object poses history (-1 for infinite).");
+    }
+
+    void Segment::init()
+    {
+        ARMARX_CHECK_NOT_NULL(iceMemory.workingMemory);
+
+        ARMARX_INFO << "Adding core segment '" <<  p.coreSegment << "'";
+        coreSegment = &iceMemory.workingMemory->addCoreSegment(p.coreSegment);
+        coreSegment->setMaxHistorySize(p.maxHistorySize);
+    }
+
+    void Segment::connect(viz::Client arviz, RobotUnitInterfacePrx robotUnitPrx)
+    {
+        robotUnit = robotUnitPrx;
+
+        auto kinematicUnit = robotUnit->getKinematicUnit();
+        const auto providerSegmentName = kinematicUnit->getRobotName();
+
+        // TODO what is the purpose?
+        auto encoderEntryType = std::make_shared<aron::typenavigator::ObjectNavigator>("RobotUnitEncoderEntry");
+        auto encoderNameType = std::make_shared<aron::typenavigator::StringNavigator>();
+        auto encoderIterationIDType = std::make_shared<aron::typenavigator::LongNavigator>();
+        encoderEntryType->addMemberType("EncoderGroupName", encoderNameType);
+        encoderEntryType->addMemberType("IterationId", encoderIterationIDType);
+        //auto encoderValueType = std::make_shared<aron::typenavigator::AnyType>();
+        //encoderEntryType->addMemberType("value", encoderValueType);
+
+        ARMARX_INFO << "Adding provider segment " << p.coreSegment << "/" << providerSegmentName;
+        armem::data::AddSegmentInput input;
+        input.coreSegmentName = p.coreSegment;
+        input.providerSegmentName = providerSegmentName;
+
+        {
+            std::lock_guard g{memoryMutex};
+            auto result = iceMemory.addSegments({input})[0];
+
+            if (!result.success)
+            {
+                ARMARX_ERROR << "Could not add segment " << p.coreSegment << "/" << providerSegmentName << ". The error message is: " << result.errorMessage;
+            }
+        }
+
+        robotUnitProviderID.memoryName = iceMemory.workingMemory->id().memoryName;
+        robotUnitProviderID.coreSegmentName = p.coreSegment;
+        robotUnitProviderID.providerSegmentName = providerSegmentName;
+    }
+
+    std::unordered_map<std::string, std::map<std::string, float>> Segment::getRobotJointPositions(const armem::Time& timestamp) const
+    {
+        std::unordered_map<std::string, std::map<std::string, float>> jointMap;
+
+        for (const auto& [robotName, provSeg] : iceMemory.workingMemory->getCoreSegment(p.coreSegment))
+        {
+            for (const auto& [name, entity] :  provSeg.entities())
+            {
+                const auto& entityInstance = entity.getLatestSnapshot().getInstance(0);
+
+                const auto jointState = tryCast<armarx::armem::arondto::JointState>(entityInstance);
+
+                if (not jointState)
+                {
+                    // ARMARX_WARNING << "Could not convert entity instance to 'JointState'";
+                    continue;
+                }
+
+                jointMap[robotName].emplace(jointState->name, jointState->position);
+            }
+        }
+
+        ARMARX_INFO << deactivateSpam(10) <<  "Number of known robot joint maps: " << jointMap.size();
+
+        return jointMap;
+    }
+
+    const armem::MemoryID& Segment::getRobotUnitProviderID() const
+    {
+        return robotUnitProviderID;
+    }
+
+
+
+    // void Segment::RemoteGui::setup(const Segment& data)
+    // {
+    //     using namespace armarx::RemoteGui::Client;
+
+    //     maxHistorySize.setValue(std::max(1, int(data.p.maxHistorySize)));
+    //     maxHistorySize.setRange(1, 1e6);
+    //     infiniteHistory.setValue(data.p.maxHistorySize == -1);
+    //     discardSnapshotsWhileAttached.setValue(data.p.discardSnapshotsWhileAttached);
+
+    //     GridLayout grid;
+    //     int row = 0;
+    //     grid.add(Label("Max History Size"), {row, 0}).add(maxHistorySize, {row, 1});
+    //     row++;
+    //     grid.add(Label("Infinite History Size"), {row, 0}).add(infiniteHistory, {row, 1});
+    //     row++;
+    //     grid.add(Label("Discard Snapshots while Attached"), {row, 0}).add(discardSnapshotsWhileAttached, {row, 1});
+    //     row++;
+
+    //     group.setLabel("Data");
+    //     group.addChild(grid);
+    // }
+
+    // void Segment::RemoteGui::update(Segment& data)
+    // {
+    //     if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged()
+    //         || discardSnapshotsWhileAttached.hasValueChanged())
+    //     {
+    //         std::scoped_lock lock(data.memoryMutex);
+
+    //         if (infiniteHistory.hasValueChanged() || maxHistorySize.hasValueChanged())
+    //         {
+    //             data.p.maxHistorySize = infiniteHistory.getValue() ? -1 : maxHistorySize.getValue();
+    //             if (data.coreSegment)
+    //             {
+    //                 data.coreSegment->setMaxHistorySize(long(data.p.maxHistorySize));
+    //             }
+    //         }
+
+    //         data.p.discardSnapshotsWhileAttached = discardSnapshotsWhileAttached.getValue();
+    //     }
+    // }
+
+}  // namespace armarx::armem::server::robot_state::proprioception