diff --git a/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.cpp b/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.cpp
index b20c6146ddb55b53fcb05057f67a68162b8f764c..5823b2fe7b6697eb72412e62e4aba2241cf6984d 100644
--- a/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.cpp
+++ b/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.cpp
@@ -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
diff --git a/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.h b/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.h
index d5ffaf4b3e2d22adab25285e8894563b04106f1e..4f8f2c1edd837888d6917601173b9599764cc5b5 100644
--- a/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.h
+++ b/source/armarx/manipulation/components/articulated_objects_skill_provider/Component.h
@@ -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