Add class and component MemoryToDebugObserver

source/RobotAPI/components/armem/client/MemoryToDebugObserver/Component.cpp

@@ -22,6 +22,8 @@
 
 #include "Component.h"
 
+#include <SimoxUtility/json.h>
+
 #include <ArmarXCore/core/time/Frequency.h>
 #include <ArmarXCore/core/time/Metronome.h>
 
@@ -34,6 +36,39 @@ namespace armarx::memory_to_debug_observer
         armarx::PropertyDefinitionsPtr defs =
             new ComponentPropertyDefinitions(getConfigIdentifier());
 
+        {
+            armem::MemoryID robotEntityId{"RobotState", "Proprioception", "Armar7", "Armar7"};
+
+            std::vector<std::string> jointNames{
+                "Neck_1_Yaw",
+                "Neck_2_Hemisphere_A",
+                "Neck_3_Hemisphere_B",
+            };
+
+            for (const std::string& jointName : jointNames)
+            {
+                std::vector<std::string> attributes{
+                    "position",
+                    "velocity",
+                };
+                for (const std::string& attribute : attributes)
+                {
+                    properties.memoryToDebugObserver.plottedValues.push_back({
+                        .entityID = robotEntityId,
+                        .aronPath = {{"joints", attribute, jointName}},
+                    });
+                }
+            }
+
+            simox::json::json j = properties.memoryToDebugObserver;
+            properties.memoryToDebugObserverJson = j.dump();
+        }
+        defs->optional(properties.memoryToDebugObserverJson,
+                       "p.memoryToDebugObserverJson",
+                       "Configuration of MemoryToDebugObserver in JSON format.");
+
+        defs->optional(properties.pollFrequencyHz, "p.pollFrequencyHz");
+
         return defs;
     }
 
@@ -52,27 +87,9 @@ namespace armarx::memory_to_debug_observer
     {
         DebugObserverComponentPluginUser::setDebugObserverBatchModeEnabled(true);
 
-        armem::MemoryID robotEntityId{"RobotState", "Proprioception", "Armar7", "Armar7"};
-
-        std::vector<std::string> jointNames{
-            "Neck_1_Yaw",
-            "Neck_2_Hemisphere_A",
-            "Neck_3_Hemisphere_B",
-        };
-
-        for (const std::string& jointName : jointNames)
         {
-            std::vector<std::string> attributes{
-                "position",
-                "velocity",
-            };
-            for (const std::string& attribute : attributes)
-            {
-                properties.memoryToDebugObserver.plottedValues.push_back({
-                    .entityID = robotEntityId,
-                    .aronPath = {{"joints", attribute, jointName}},
-                });
-            }
+            simox::json::json j = simox::json::json::parse(properties.memoryToDebugObserverJson);
+            j.get_to(properties.memoryToDebugObserver);
         }
     }
 
@@ -108,7 +125,7 @@ namespace armarx::memory_to_debug_observer
         armem::client::util::MemoryToDebugObserver memoryToDebugObserver{
             properties.memoryToDebugObserver, services};
 
-        Frequency frequency = Frequency::Hertz(30);
+        Frequency frequency = Frequency::Hertz(properties.pollFrequencyHz);
         Metronome metronome(frequency);
         while (task and not task->isStopped())
         {
@@ -122,11 +139,10 @@ namespace armarx::memory_to_debug_observer
     {
         using namespace armarx::RemoteGui::Client;
 
-        if (tab.queryResult)
-        {
-        }
+        tab.group = GroupBox();
+        tab.group.setLabel("Todo ...");
 
-        VBoxLayout root = {tab.queryResultGroup, VSpacer()};
+        VBoxLayout root = {tab.group, VSpacer()};
         RemoteGui_createTab(getName(), root, &tab);
     }