From 70cd3ab20ffd69249b1eeff5c55b07bde3f20092 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 4 May 2022 18:23:13 +0200
Subject: [PATCH] impl. aron events / conversion
---
source/armarx/navigation/core/aron/Events.xml | 12 ++++++
.../navigation/core/aron_conversions.cpp | 43 +++++++++++++++++++
.../armarx/navigation/core/aron_conversions.h | 21 ++++++++-
.../memory/client/events/Writer.cpp | 28 +++++++-----
.../navigation/memory/client/events/Writer.h | 5 +--
.../memory/client/parameterization/Writer.h | 2 +-
.../event_publishing/MemoryPublisher.cpp | 2 +-
7 files changed, 96 insertions(+), 17 deletions(-)
diff --git a/source/armarx/navigation/core/aron/Events.xml b/source/armarx/navigation/core/aron/Events.xml
index d2009212..d7d29939 100644
--- a/source/armarx/navigation/core/aron/Events.xml
+++ b/source/armarx/navigation/core/aron/Events.xml
@@ -41,5 +41,17 @@
</ObjectChild>
</Object>
+ <Object name='armarx::navigation::core::arondto::UserAbortTriggeredEvent'>
+ <ObjectChild key='pose'>
+ <Pose />
+ </ObjectChild>
+ </Object>
+
+ <Object name='armarx::navigation::core::arondto::GlobalPlanningFailedEvent'>
+ <ObjectChild key='message'>
+ <String />
+ </ObjectChild>
+ </Object>
+
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/armarx/navigation/core/aron_conversions.cpp b/source/armarx/navigation/core/aron_conversions.cpp
index 84b847e3..4a974067 100644
--- a/source/armarx/navigation/core/aron_conversions.cpp
+++ b/source/armarx/navigation/core/aron_conversions.cpp
@@ -3,6 +3,7 @@
#include <range/v3/range/conversion.hpp>
#include <range/v3/view/transform.hpp>
+#include "RobotAPI/libraries/aron/common/aron_conversions/core.h"
#include <RobotAPI/libraries/aron/common/aron_conversions.h>
#include <RobotAPI/libraries/core/Trajectory.h>
@@ -121,6 +122,34 @@ namespace armarx::navigation::core
aron::fromAron(dto.pose, bo.pose.matrix());
}
+ void
+ fromAron(const armarx::navigation::core::arondto::GlobalPlanningFailedEvent& dto,
+ armarx::navigation::core::GlobalPlanningFailedEvent& bo)
+ {
+ aron::fromAron(dto.message, bo.message);
+ }
+
+ void
+ toAron(armarx::navigation::core::arondto::GlobalPlanningFailedEvent& dto,
+ const armarx::navigation::core::GlobalPlanningFailedEvent& bo)
+ {
+ aron::toAron(dto.message, bo.message);
+ }
+
+ void
+ toAron(armarx::navigation::core::arondto::MovementStartedEvent& dto,
+ const armarx::navigation::core::MovementStartedEvent& bo)
+ {
+ aron::toAron(dto.startPose, bo.startPose.matrix());
+ }
+
+ void
+ fromAron(const armarx::navigation::core::arondto::MovementStartedEvent& dto,
+ armarx::navigation::core::MovementStartedEvent& bo)
+ {
+ aron::fromAron(dto.startPose, bo.startPose.matrix());
+ }
+
void
toAron(armarx::navigation::core::arondto::WaypointReachedEvent& dto,
const armarx::navigation::core::WaypointReachedEvent& bo)
@@ -153,4 +182,18 @@ namespace armarx::navigation::core
aron::fromAron(dto.message, bo.message);
}
+ void
+ toAron(armarx::navigation::core::arondto::UserAbortTriggeredEvent& dto,
+ const armarx::navigation::core::UserAbortTriggeredEvent& bo)
+ {
+ aron::toAron(dto.pose, bo.pose.matrix());
+ }
+
+ void
+ fromAron(const armarx::navigation::core::arondto::UserAbortTriggeredEvent& dto,
+ armarx::navigation::core::UserAbortTriggeredEvent& bo)
+ {
+ aron::fromAron(dto.pose, bo.pose.matrix());
+ }
+
} // namespace armarx::navigation::core
diff --git a/source/armarx/navigation/core/aron_conversions.h b/source/armarx/navigation/core/aron_conversions.h
index 4e0a7bd4..654fd409 100644
--- a/source/armarx/navigation/core/aron_conversions.h
+++ b/source/armarx/navigation/core/aron_conversions.h
@@ -63,20 +63,39 @@ namespace armarx::navigation::core
// Events
void toAron(armarx::navigation::core::arondto::GoalReachedEvent& dto,
const armarx::navigation::core::GoalReachedEvent& bo);
+
void fromAron(const armarx::navigation::core::arondto::GoalReachedEvent& dto,
armarx::navigation::core::GoalReachedEvent& bo);
+ void toAron(armarx::navigation::core::arondto::MovementStartedEvent& dto,
+ const armarx::navigation::core::MovementStartedEvent& bo);
+
+ void fromAron(const armarx::navigation::core::arondto::GlobalPlanningFailedEvent& dto,
+ armarx::navigation::core::GlobalPlanningFailedEvent& bo);
+
+ void toAron(armarx::navigation::core::arondto::GlobalPlanningFailedEvent& dto,
+ const armarx::navigation::core::GlobalPlanningFailedEvent& bo);
+
+ void fromAron(const armarx::navigation::core::arondto::MovementStartedEvent& dto,
+ armarx::navigation::core::MovementStartedEvent& bo);
+
void toAron(armarx::navigation::core::arondto::WaypointReachedEvent& dto,
const armarx::navigation::core::WaypointReachedEvent& bo);
+
void fromAron(const armarx::navigation::core::arondto::WaypointReachedEvent& dto,
armarx::navigation::core::WaypointReachedEvent& bo);
-
void toAron(armarx::navigation::core::arondto::InternalErrorEvent& dto,
const armarx::navigation::core::InternalErrorEvent& bo);
+
void fromAron(const armarx::navigation::core::arondto::InternalErrorEvent& dto,
armarx::navigation::core::InternalErrorEvent& bo);
+ void toAron(armarx::navigation::core::arondto::UserAbortTriggeredEvent& dto,
+ const armarx::navigation::core::UserAbortTriggeredEvent& bo);
+
+ void fromAron(const armarx::navigation::core::arondto::UserAbortTriggeredEvent& dto,
+ armarx::navigation::core::UserAbortTriggeredEvent& bo);
} // namespace armarx::navigation::core
diff --git a/source/armarx/navigation/memory/client/events/Writer.cpp b/source/armarx/navigation/memory/client/events/Writer.cpp
index b15a93ca..4325c44a 100644
--- a/source/armarx/navigation/memory/client/events/Writer.cpp
+++ b/source/armarx/navigation/memory/client/events/Writer.cpp
@@ -64,35 +64,41 @@ namespace armarx::navigation::memory::client::events
bool
Writer::store(const core::GoalReachedEvent& event, const std::string& clientID)
{
- return storeImpl(event, "GoalReachedEvent", clientID);
+ return storeImpl<core::arondto::GoalReachedEvent>(event, "GoalReachedEvent", clientID);
}
bool
Writer::store(const core::WaypointReachedEvent& event, const std::string& clientID)
{
- return storeImpl(event, "WaypointReachedEvent", clientID);
+ return storeImpl<core::arondto::WaypointReachedEvent>(event, "WaypointReachedEvent", clientID);
}
bool
Writer::store(const core::InternalErrorEvent& event, const std::string& clientID)
{
- return storeImpl(event, "InternalErrorEvent", clientID);
+ return storeImpl<core::arondto::InternalErrorEvent>(event, "InternalErrorEvent", clientID);
}
bool
Writer::store(const core::GlobalPlanningFailedEvent& event, const std::string& clientID)
{
- return storeImpl(event, "GlobalPlanningFailedEvent", clientID);
+ return storeImpl<core::arondto::GlobalPlanningFailedEvent>(event, "GlobalPlanningFailedEvent", clientID);
}
bool
Writer::store(const core::MovementStartedEvent& event, const std::string& clientID)
{
- return storeImpl(event, "MovementStartedEvent", clientID);
+ return storeImpl<core::arondto::MovementStartedEvent>(event, "MovementStartedEvent", clientID);
+ }
+
+ bool
+ Writer::store(const core::UserAbortTriggeredEvent& event, const std::string& clientID)
+ {
+ return storeImpl<core::arondto::UserAbortTriggeredEvent>(event, "UserAbortTriggered", clientID);
}
- template <typename EventT>
+ template <typename AronEventT, typename EventT>
bool
Writer::storeImpl(const EventT& event,
const std::string& eventName,
@@ -102,7 +108,7 @@ namespace armarx::navigation::memory::client::events
ARMARX_INFO << "Storing event `" << eventName << "` in memory.";
- armem::Time ts = armem::Time(armem::Duration::MicroSeconds(event.timestamp.count()));
+ const auto& timestamp = event.timestamp;
armem::EntityUpdate update;
update.entityID = armem::MemoryID()
@@ -110,14 +116,14 @@ namespace armarx::navigation::memory::client::events
.withCoreSegmentName(properties().coreSegmentName)
.withProviderSegmentName(clientID)
.withEntityName(eventName)
- .withTimestamp(ts);
- update.timeCreated = ts;
+ .withTimestamp(timestamp);
+ update.timeCreated = timestamp;
- // FIXME auto dto = core::toAron(event);
+ const auto dto = core::toAron<AronEventT>(event);
aron::data::DictPtr element(new aron::data::Dict);
element->addElement("event", std::make_shared<aron::data::String>(eventName));
- // FIXME element->addElement("data", dto.toAron());
+ element->addElement("data", dto.toAron());
update.instancesData = {element};
diff --git a/source/armarx/navigation/memory/client/events/Writer.h b/source/armarx/navigation/memory/client/events/Writer.h
index 833f3705..16812c15 100644
--- a/source/armarx/navigation/memory/client/events/Writer.h
+++ b/source/armarx/navigation/memory/client/events/Writer.h
@@ -43,7 +43,7 @@ namespace armarx::navigation::memory::client::events
bool store(const core::InternalErrorEvent& event, const std::string& clientID);
- // bool store(const core::GoalReachedEvent& event, const std::string& clientID);
+ bool store(const core::UserAbortTriggeredEvent& event, const std::string& clientID);
bool store(const core::GlobalPlanningFailedEvent& event, const std::string& clientID);
bool store(const core::MovementStartedEvent& event, const std::string& clientID);
@@ -57,8 +57,7 @@ namespace armarx::navigation::memory::client::events
bool store(const armem::Commit& commit);
bool store(const armem::EntityUpdate& commit);
-
- template <typename EventT>
+ template <typename AronEventT, typename EventT>
bool
storeImpl(const EventT& event, const std::string& eventName, const std::string& clientID);
};
diff --git a/source/armarx/navigation/memory/client/parameterization/Writer.h b/source/armarx/navigation/memory/client/parameterization/Writer.h
index 58c6cd22..73b927d7 100644
--- a/source/armarx/navigation/memory/client/parameterization/Writer.h
+++ b/source/armarx/navigation/memory/client/parameterization/Writer.h
@@ -38,7 +38,7 @@ namespace armarx::navigation::memory::client::param
bool store(const std::unordered_map<core::StackLayer, aron::data::DictPtr>& stack,
const std::string& clientID,
- const core::TimestampUs& timestamp);
+ const armarx::core::time::DateTime& timestamp);
std::string propertyPrefix() const override;
Properties defaultProperties() const override;
diff --git a/source/armarx/navigation/server/event_publishing/MemoryPublisher.cpp b/source/armarx/navigation/server/event_publishing/MemoryPublisher.cpp
index 60adb3a6..8f3b9d42 100644
--- a/source/armarx/navigation/server/event_publishing/MemoryPublisher.cpp
+++ b/source/armarx/navigation/server/event_publishing/MemoryPublisher.cpp
@@ -35,7 +35,7 @@ namespace armarx::navigation::server
void
MemoryPublisher::userAbortTriggered(const core::UserAbortTriggeredEvent& event)
{
- // eventsWriter->store(event, clientId);
+ eventsWriter->store(event, clientId);
}
--
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