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Commit e02a9bdc authored by Fabian Reister's avatar Fabian Reister
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cleanup

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source/armarx/manipulation/components/articulated_objects_skill_provider/Component.cpp
+ 14
− 135
View file @ e02a9bdc
......@@ -48,12 +48,13 @@
namespace armarx::manipulation::components::articulated_objects_skill_provider
{
Component::Component() : articulatedObjectReader(memoryNameSystem())
Component::Component()
{
addPlugin(articulatedObjectReaderPlugin);
}
const std::string Component::defaultName = "ActiculatedObjectsSkillProvider";
const std::string Component::defaultName = skills::constants::ActiculatedObjectsSkillProvider;
armarx::PropertyDefinitionsPtr
......@@ -64,24 +65,6 @@ namespace armarx::manipulation::components::articulated_objects_skill_provider
robotProxies.registerPropertyDefinitions(def);
// Publish to a topic (passing the TopicListenerPrx).
// def->topic(myTopicListener);
// Subscribe to a topic (passing the topic name).
// def->topic<PlatformUnitListener>("MyTopic");
// Use (and depend on) another component (passing the ComponentInterfacePrx).
// def->component(myComponentProxy)
// Add a required property. (The component won't start without a value being set.)
// def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
// Add an optionalproperty.
// def->optional(
// properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
// def->optional(properties.numBoxes, "p.box.Number", "Number of boxes to draw in ArViz.");
return def;
}
......@@ -105,8 +88,6 @@ namespace armarx::manipulation::components::articulated_objects_skill_provider
Component::onConnectComponent()
{
articulatedObjectReader.connect();
core::Robot::InjectedServices injectedServices{.proxies = robotProxies,
.memoryNameSystem = memoryNameSystem()};
......@@ -124,11 +105,13 @@ namespace armarx::manipulation::components::articulated_objects_skill_provider
addSkill(
std::make_unique<skills::EstablishDoorContact>(skills::EstablishDoorContact::Context{
.robot = *robot,
.articulatedObjectReader = articulatedObjectReader,
.articulatedObjectReader = articulatedObjectReaderPlugin->get(),
.arviz = arviz}));
addSkill(std::make_unique<skills::ApproachHandle>(skills::ApproachHandle::Context{
.robot = *robot, .articulatedObjectReader = articulatedObjectReader, .arviz = arviz}));
.robot = *robot,
.articulatedObjectReader = articulatedObjectReaderPlugin->get(),
.arviz = arviz}));
addSkill(
std::make_unique<skills::GraspHandle>(skills::GraspHandle::Context{.robot = *robot}));
......@@ -143,36 +126,13 @@ namespace armarx::manipulation::components::articulated_objects_skill_provider
addSkill(std::make_unique<skills::meta::OpenDishwasherDoor>());
addSkill(std::make_unique<skills::meta::OpenFridge>());
addSkill(std::make_unique<skills::SetJointValues>(skills::SetJointValues::Context{.robot = *robot, .arviz = arviz}));
addSkill(std::make_unique<skills::ParametricPathExecutor>(skills::ParametricPathExecutor::Context{.robot = *robot, .articulatedObjectReader = articulatedObjectReader, .arviz = arviz}));
// Do things after connecting to topics and components.
/* (Requies the armarx::DebugObserverComponentPluginUser.)
// Use the debug observer to log data over time.
// The data can be viewed in the ObserverView and the LivePlotter.
// (Before starting any threads, we don't need to lock mutexes.)
{
setDebugObserverDatafield("numBoxes", properties.numBoxes);
setDebugObserverDatafield("boxLayerName", properties.boxLayerName);
sendDebugObserverBatch();
}
*/
/* (Requires the armarx::ArVizComponentPluginUser.)
// Draw boxes in ArViz.
// (Before starting any threads, we don't need to lock mutexes.)
drawBoxes(properties, arviz);
*/
/* (Requires the armarx::LightweightRemoteGuiComponentPluginUser.)
// Setup the remote GUI.
{
createRemoteGuiTab();
RemoteGui_startRunningTask();
}
*/
addSkill(std::make_unique<skills::SetJointValues>(
skills::SetJointValues::Context{.robot = *robot, .arviz = arviz}));
addSkill(std::make_unique<skills::ParametricPathExecutor>(
skills::ParametricPathExecutor::Context{.robot = *robot,
.articulatedObjectReader =
articulatedObjectReaderPlugin->get(),
.arviz = arviz}));
}
......@@ -202,87 +162,6 @@ namespace armarx::manipulation::components::articulated_objects_skill_provider
}
/* (Requires the armarx::LightweightRemoteGuiComponentPluginUser.)
void
Component::createRemoteGuiTab()
{
using namespace armarx::RemoteGui::Client;
// Setup the widgets.
tab.boxLayerName.setValue(properties.boxLayerName);
tab.numBoxes.setValue(properties.numBoxes);
tab.numBoxes.setRange(0, 100);
tab.drawBoxes.setLabel("Draw Boxes");
// Setup the layout.
GridLayout grid;
int row = 0;
{
grid.add(Label("Box Layer"), {row, 0}).add(tab.boxLayerName, {row, 1});
++row;
grid.add(Label("Num Boxes"), {row, 0}).add(tab.numBoxes, {row, 1});
++row;
grid.add(tab.drawBoxes, {row, 0}, {2, 1});
++row;
}
VBoxLayout root = {grid, VSpacer()};
RemoteGui_createTab(getName(), root, &tab);
}
void
Component::RemoteGui_update()
{
if (tab.boxLayerName.hasValueChanged() || tab.numBoxes.hasValueChanged())
{
std::scoped_lock lock(propertiesMutex);
properties.boxLayerName = tab.boxLayerName.getValue();
properties.numBoxes = tab.numBoxes.getValue();
{
setDebugObserverDatafield("numBoxes", properties.numBoxes);
setDebugObserverDatafield("boxLayerName", properties.boxLayerName);
sendDebugObserverBatch();
}
}
if (tab.drawBoxes.wasClicked())
{
// Lock shared variables in methods running in seperate threads
// and pass them to functions. This way, the called functions do
// not need to think about locking.
std::scoped_lock lock(propertiesMutex, arvizMutex);
drawBoxes(properties, arviz);
}
}
*/
/* (Requires the armarx::ArVizComponentPluginUser.)
void
Component::drawBoxes(const Component::Properties& p, viz::Client& arviz)
{
// Draw something in ArViz (requires the armarx::ArVizComponentPluginUser.
// See the ArVizExample in RobotAPI for more examples.
viz::Layer layer = arviz.layer(p.boxLayerName);
for (int i = 0; i < p.numBoxes; ++i)
{
layer.add(viz::Box("box_" + std::to_string(i))
.position(Eigen::Vector3f(i * 100, 0, 0))
.size(20).color(simox::Color::blue()));
}
arviz.commit(layer);
}
*/
ARMARX_REGISTER_COMPONENT_EXECUTABLE(Component, Component::GetDefaultName());
} // namespace armarx::manipulation::components::articulated_objects_skill_provider
source/armarx/manipulation/components/articulated_objects_skill_provider/Component.h
+ 9
− 1
View file @ e02a9bdc
......@@ -31,6 +31,7 @@
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/armem/client/plugins.h>
#include <RobotAPI/libraries/skills/provider/SkillProviderComponentPlugin.h>
#include "RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h"
#include "armarx/manipulation/core/Robot.h"
#include <armarx/manipulation/components/articulated_objects_skill_provider/ComponentInterface.h>
......@@ -144,7 +145,14 @@ namespace armarx::manipulation::components::articulated_objects_skill_provider
std::unique_ptr<core::Robot> robot;
armarx::armem::articulated_object::ArticulatedObjectReader articulatedObjectReader;
template <typename T>
using ReaderWriterPlugin = armarx::armem::client::plugins::ReaderWriterPlugin<T>;
ReaderWriterPlugin<armarx::armem::articulated_object::ArticulatedObjectReader>* articulatedObjectReaderPlugin =
nullptr;
};
} // namespace armarx::manipulation::components::articulated_objects_skill_provider
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