update

source/Navigation/components/Navigator/Navigator.h

@@ -34,7 +34,7 @@
 // #include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
 
 
-namespace armarx
+namespace armarx::nav::components
 {
 
     /**
@@ -142,4 +142,9 @@ namespace armarx
 
 
     };
+}  // namespace armarx::nav::components
+
+namespace armarx::nav
+{
+    using NavigatorComponent = components::Navigator;
 }

source/Navigation/libraries/CMakeLists.txt

@@ -6,4 +6,5 @@ add_subdirectory(trajectory_control)
 add_subdirectory(client)
 add_subdirectory(algorithms)
 add_subdirectory(factories)
-add_subdirectory(safety_control)
+add_subdirectory(safety_control)
\ No newline at end of file
+add_subdirectory(server)
\ No newline at end of file

source/Navigation/libraries/client/NavigatorConfig.cpp

@@ -4,7 +4,7 @@
 
 namespace armarx::nav::client
 {
-    aron::data::AronDictPtr NavigatorConfig::toAron() const
+    aron::data::AronDictPtr NavigationStackConfig::toAron() const
     {
         return dict.toAronDictPtr();
     }

source/Navigation/libraries/client/NavigatorConfig.h

@@ -23,6 +23,8 @@
 
 #include <memory>
 
+#include <SimoxUtility/meta/enum/EnumNames.hpp>
+
 #include "RobotAPI/libraries/aron/core/navigator/data/NavigatorFactory.h"
 #include "RobotAPI/libraries/aron/core/navigator/data/primitive/String.h"
 #include <RobotAPI/interface/aron/Aron.h>
@@ -36,12 +38,15 @@ namespace armarx::nav::client
     const std::string NAME_KEY   = "name";
     const std::string PARAMS_KEY = "params";
 
-    enum class GlobalPlannerAlgorithm
+    enum class GlobalPlannerAlgorithms
     {
         AStar
         // TODO extend
     };
 
+    simox::meta::EnumNames<GlobalPlannerAlgorithms> GlobalPlannerAlgorithmNames{
+        {GlobalPlannerAlgorithms::AStar, "AStar"}};
+
     class GlobalPlanner
     {
     };
@@ -50,15 +55,15 @@ namespace armarx::nav::client
 
     struct GlobalPlannerParams
     {
-        virtual GlobalPlannerAlgorithm algorithm() const             = 0;
+        virtual GlobalPlannerAlgorithms algorithm() const            = 0;
         virtual aron::datanavigator::DictNavigatorPtr toAron() const = 0;
     };
 
     struct AStarParams : public GlobalPlannerParams
     {
-        GlobalPlannerAlgorithm algorithm() const override
+        GlobalPlannerAlgorithms algorithm() const override
         {
-            return GlobalPlannerAlgorithm::AStar;
+            return GlobalPlannerAlgorithms::AStar;
         }
 
         aron::datanavigator::DictNavigatorPtr toAron() const override
@@ -75,7 +80,12 @@ namespace armarx::nav::client
     class AStar : public GlobalPlanner
     {
     public:
+        AStar(const AStarParams& params) : params(params)
+        {
+        }
         // const static GlobalPlannerAlgorithm Algo = GlobalPlannerAlgorithm::AStar;
+
+        AStarParams params;
     };
 
     class Factory
@@ -85,28 +95,33 @@ namespace armarx::nav::client
             const aron::datanavigator::DictNavigatorPtr dict =
                 aron::datanavigator::DictNavigator::FromAronDictPtr(params);
 
-            GlobalPlannerAlgorithm algo; // TODO from params / dict
+            GlobalPlannerAlgorithms algo; // TODO from params / dict
+            aron::datanavigator::DictNavigatorPtr algoParams =
+                aron::datanavigator::DictNavigator::DynamicCast(dict->getElement(PARAMS_KEY));
 
             GlobalPlannerPtr globalPlanner;
 
             switch (algo)
             {
-            case GlobalPlannerAlgorithm::AStar:
-                globalPlanner = std::make_shared<AStar>(AStarParams::FromAron(dict->getElement(PARAMS_KEY)));
+            case GlobalPlannerAlgorithms::AStar:
+                globalPlanner = std::make_shared<AStar>(AStarParams::FromAron(algoParams));
             }
+
+            return globalPlanner;
         }
     };
 
-    class NavigatorConfig
+    class NavigationStackConfig
     {
     public:
-        NavigatorConfig() = default;
+        NavigationStackConfig() = default;
 
-        NavigatorConfig& setGlobalPlanner(const GlobalPlannerParams& params)
+        NavigationStackConfig& configureGlobalPlanner(const GlobalPlannerParams& params)
         {
             aron::datanavigator::DictNavigatorPtr element(new aron::datanavigator::DictNavigator);
-            element->addElement(
-                NAME_KEY, std::make_shared<aron::datanavigator::StringNavigator>(params.name()));
+            element->addElement(NAME_KEY,
+                                std::make_shared<aron::datanavigator::StringNavigator>(
+                                    GlobalPlannerAlgorithmNames.to_name(params.algorithm())));
             element->addElement(PARAMS_KEY, params.toAron());
 
             dict.addElement(GLOBAL_PLANNER, element);
@@ -114,12 +129,12 @@ namespace armarx::nav::client
             return *this;
         }
 
-        NavigatorConfig& setLocalPlanner();
+        NavigationStackConfig& configureLocalPlanner();
 
         template <typename ParamType>
-        NavigatorConfig& setTrajectoryController();
+        NavigationStackConfig& configureTrajectoryController();
 
-        NavigatorConfig& setSafetyController();
+        NavigationStackConfig& configureSafetyController();
 
         aron::data::AronDictPtr toAron() const;
 
@@ -127,9 +142,10 @@ namespace armarx::nav::client
     private:
         aron::datanavigator::DictNavigator dict;
 
+        // TODO enum
         const std::string GLOBAL_PLANNER        = "global_planner";
-        const std::string LOCAL_PLANNER         = "global_planner";
-        const std::string TRAJECTORY_CONTROLLEr = "trajectory_controller";
+        const std::string LOCAL_PLANNER         = "local_planner";
+        const std::string TRAJECTORY_CONTROLLER = "trajectory_controller";
         const std::string SAFETY_CONTROLLER     = "safety_controller";
     };
 } // namespace armarx::nav::client
\ No newline at end of file

source/Navigation/libraries/client/test/clientTest.cpp

@@ -34,8 +34,34 @@ using namespace armarx::nav::client;
 BOOST_AUTO_TEST_CASE(testExample)
 {
 
-    NavigatorConfig cfg;
-    cfg.setGlobalPlanner(AStarP)
+    // create navigation stack config
+    NavigationStackConfig cfg;
+    cfg.configureGlobalPlanner(AStarParams());
+
+    const auto stackConfig = cfg.toAron();
+    // here, we would send data over Ice ...
+
+    NavigatorPrx navigator;
+
+    navigator->moveTo(goal, stackConfig, Mode::Absolute);
+    navigator->moveTorwards(direction, stackConfig, Mode::Relative);
+
+
+    // CLIENT
+    ////////////////////////////////////////////////
+    // SERVER
+
+
+
+    // create Navigator 
+    server::NavigationStack stack = NavigationStackFactory::create(stackConfig);
+
+    server::Navigator navigator(stack);
+    // DirectionNavigator
+    // RelativePointNavigator
+
+    navigator->moveTo(goal);
+
 
 
     BOOST_CHECK_EQUAL(true, true);

source/Navigation/libraries/server/CMakeLists.txt

+set(LIB_NAME       server)
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+armarx_add_library(
+    LIBS     
+        ArmarXCoreInterfaces
+        ArmarXCore
+    SOURCES  
+        ./server.cpp
+    HEADERS  
+        ./server.h
+)
+
+add_library(Navigation::server ALIAS server)
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+# all target_include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+#    target_include_directories(server PUBLIC ${MyLib_INCLUDE_DIRS})
+#endif()
+
+# add unit tests
+add_subdirectory(test)

source/Navigation/libraries/server/NavigationStack.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+ 
+ #pragma once
+
+ #include "Navigation/libraries/global_planning/GlobalPlanner.h"
+ #include "Navigation/libraries/local_planning/LocalPlanner.h"
+ #include "Navigation/libraries/trajectory_control/TrajectoryControl.h"
+ #include "Navigation/libraries/safety_control/SafetyControl.h
+ 
+ namespace armarx::nav::server
+ {
+ 
+ class NavigationStack
+ {
+ public:
+ 
+ protected:
+ 
+ private:
+ };
+ } // namespace armarx::nav::server
\ No newline at end of file

source/Navigation/libraries/server/Navigator.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+ 
+ #pragma once
+ 
+ namespace armarx::nav::server
+ {
+ 
+ class Navigator
+ {
+ public:
+ 
+ protected:
+ 
+ private:
+ };
+ } // namespace armarx::nav::server
\ No newline at end of file

source/Navigation/libraries/server/server.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    Navigation::ArmarXObjects::server
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "server.h"
+
+namespace armarx
+{
+
+}

source/Navigation/libraries/server/server.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    Navigation::ArmarXObjects::server
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+
+namespace armarx
+{
+    /**
+    * @defgroup Library-server server
+    * @ingroup Navigation
+    * A description of the library server.
+    *
+    * @class server
+    * @ingroup Library-server
+    * @brief Brief description of class server.
+    *
+    * Detailed description of class server.
+    */
+    class server
+    {
+    public:
+
+    };
+
+}

source/Navigation/libraries/server/test/CMakeLists.txt

+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore server)
+ 
+armarx_add_test(serverTest serverTest.cpp "${LIBS}")
\ No newline at end of file

source/Navigation/libraries/server/test/serverTest.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    Navigation::ArmarXObjects::server
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE Navigation::ArmarXLibraries::server
+
+#define ARMARX_BOOST_TEST
+
+#include <Navigation/Test.h>
+#include "../server.h"
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+
+    BOOST_CHECK_EQUAL(true, true);
+}