From 7ec6cf9d48392af4bdb93842845563ffe5068b95 Mon Sep 17 00:00:00 2001
From: "Christian R. G. Dreher" <c.dreher@kit.edu>
Date: Mon, 12 Jul 2021 18:08:06 +0200
Subject: [PATCH] feature: Add Exmaple component together with stubs for
component plugin.
---
source/Navigation/components/CMakeLists.txt | 4 +-
.../components/ExampleClient/CMakeLists.txt | 35 ++++++++
.../ExampleClient/ExampleClient.cpp | 89 +++++++++++++++++++
.../components/ExampleClient/ExampleClient.h | 85 ++++++++++++++++++
source/Navigation/libraries/client.h | 4 +
.../libraries/client/CMakeLists.txt | 10 ++-
.../libraries/client/ComponentPlugin.cpp | 20 +++++
.../libraries/client/ComponentPlugin.h | 46 ++++++++++
.../Navigation/libraries/client/Navigator.cpp | 19 ++++
.../Navigation/libraries/client/Navigator.h | 15 ++++
.../client/NavigatorComponentPlugin.h | 0
.../TrajectoryFollowingController.h | 2 +-
12 files changed, 323 insertions(+), 6 deletions(-)
create mode 100644 source/Navigation/components/ExampleClient/CMakeLists.txt
create mode 100644 source/Navigation/components/ExampleClient/ExampleClient.cpp
create mode 100644 source/Navigation/components/ExampleClient/ExampleClient.h
create mode 100644 source/Navigation/libraries/client.h
create mode 100644 source/Navigation/libraries/client/ComponentPlugin.cpp
create mode 100644 source/Navigation/libraries/client/ComponentPlugin.h
create mode 100644 source/Navigation/libraries/client/Navigator.cpp
delete mode 100644 source/Navigation/libraries/client/NavigatorComponentPlugin.h
diff --git a/source/Navigation/components/CMakeLists.txt b/source/Navigation/components/CMakeLists.txt
index 0e87d394..4059527a 100644
--- a/source/Navigation/components/CMakeLists.txt
+++ b/source/Navigation/components/CMakeLists.txt
@@ -1,2 +1,4 @@
+add_subdirectory(Navigator)
-add_subdirectory(Navigator)
\ No newline at end of file
+# Examples
+add_subdirectory(ExampleClient)
diff --git a/source/Navigation/components/ExampleClient/CMakeLists.txt b/source/Navigation/components/ExampleClient/CMakeLists.txt
new file mode 100644
index 00000000..27bdf6a5
--- /dev/null
+++ b/source/Navigation/components/ExampleClient/CMakeLists.txt
@@ -0,0 +1,35 @@
+set(LIB_NAME ExampleClient)
+
+
+armarx_component_set_name("${LIB_NAME}")
+armarx_set_target("Library: ${LIB_NAME}")
+
+
+# Add the component
+armarx_add_component(
+ COMPONENT_LIBS
+ # ArmarXCore
+ ArmarXCore
+ ## ArmarXCoreComponentPlugins # For DebugObserver plugin.
+ # ArmarXGui
+ ## ArmarXGuiComponentPlugins # For RemoteGui plugin.
+ # RobotAPI
+ ## RobotAPICore
+ ## RobotAPIInterfaces
+ ## RobotAPIArmarXObjects
+ ## RobotAPIComponentPlugins # For ArViz and other plugins.
+ # Navigation
+ Navigation::Client
+
+ SOURCES
+ ExampleClient.cpp
+
+ HEADERS
+ ExampleClient.h
+)
+
+
+# Generate the application
+armarx_generate_and_add_component_executable(
+ COMPONENT_NAMESPACE armarx::nav::components
+)
diff --git a/source/Navigation/components/ExampleClient/ExampleClient.cpp b/source/Navigation/components/ExampleClient/ExampleClient.cpp
new file mode 100644
index 00000000..8fc5398d
--- /dev/null
+++ b/source/Navigation/components/ExampleClient/ExampleClient.cpp
@@ -0,0 +1,89 @@
+/**
+ * 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::ExampleClient
+ * @author Christian R. G. Dreher ( c dot dreher at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#include <Navigation/components/ExampleClient/ExampleClient.h>
+
+
+
+armarx::nav::components::ExampleClient::ExampleClient()
+{
+ // pass
+}
+
+
+armarx::nav::components::ExampleClient::~ExampleClient()
+{
+ // pass
+}
+
+
+void
+armarx::nav::components::ExampleClient::onInitComponent()
+{
+ // pass
+}
+
+
+void
+armarx::nav::components::ExampleClient::onConnectComponent()
+{
+ task = new RunningTask<ExampleClient>(this, &ExampleClient::exampleNavigation);
+ task->start();
+}
+
+
+void
+armarx::nav::components::ExampleClient::onDisconnectComponent()
+{
+ const bool join = true;
+ task->stop(join);
+}
+
+
+void
+armarx::nav::components::ExampleClient::onExitComponent()
+{
+ // pass
+}
+
+
+std::string
+armarx::nav::components::ExampleClient::getDefaultName() const
+{
+ return "ExampleClient";
+}
+
+
+void
+armarx::nav::components::ExampleClient::exampleNavigation()
+{
+
+}
+
+
+armarx::PropertyDefinitionsPtr
+armarx::nav::components::ExampleClient::createPropertyDefinitions()
+{
+ PropertyDefinitionsPtr def = new ComponentPropertyDefinitions(getConfigIdentifier());
+ return def;
+}
diff --git a/source/Navigation/components/ExampleClient/ExampleClient.h b/source/Navigation/components/ExampleClient/ExampleClient.h
new file mode 100644
index 00000000..8404ad89
--- /dev/null
+++ b/source/Navigation/components/ExampleClient/ExampleClient.h
@@ -0,0 +1,85 @@
+/**
+ * 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::ExampleClient
+ * @author Christian R. G. Dreher ( c dot dreher at kit dot edu )
+ * @date 2021
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+
+#pragma once
+
+
+// ArmarX
+#include <ArmarXCore/util/tasks.h>
+
+// Navigation
+#include <Navigation/libraries/client.h>
+
+
+namespace armarx::nav::components
+{
+
+ /**
+ * @defgroup Component-ExampleClient ExampleClient
+ * @ingroup Navigation-Components
+ * A description of the component ExampleClient.
+ *
+ * @class ExampleClient
+ * @ingroup Component-ExampleClient
+ * @brief Brief description of class ExampleClient.
+ *
+ * Detailed description of class ExampleClient.
+ */
+ class ExampleClient :
+ virtual public Component,
+ virtual public nav::client::ComponentPluginUser
+ {
+
+ public:
+
+ ExampleClient();
+
+ ~ExampleClient() override;
+
+ protected:
+
+ /// @see PropertyUser::createPropertyDefinitions()
+ PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+ /// @see armarx::ManagedIceObject::onInitComponent()
+ void onInitComponent() override;
+
+ /// @see armarx::ManagedIceObject::onConnectComponent()
+ void onConnectComponent() override;
+
+ /// @see armarx::ManagedIceObject::onDisconnectComponent()
+ void onDisconnectComponent() override;
+
+ /// @see armarx::ManagedIceObject::onExitComponent()
+ void onExitComponent() override;
+
+ std::string getDefaultName() const override;
+
+ void exampleNavigation();
+
+ private:
+
+ RunningTask<ExampleClient>::pointer_type task;
+
+ };
+} // namespace armarx::nav::components
diff --git a/source/Navigation/libraries/client.h b/source/Navigation/libraries/client.h
new file mode 100644
index 00000000..02957051
--- /dev/null
+++ b/source/Navigation/libraries/client.h
@@ -0,0 +1,4 @@
+#pragma once
+
+
+#include <Navigation/libraries/client/ComponentPlugin.h>
diff --git a/source/Navigation/libraries/client/CMakeLists.txt b/source/Navigation/libraries/client/CMakeLists.txt
index 2192ec99..bc5bcad2 100644
--- a/source/Navigation/libraries/client/CMakeLists.txt
+++ b/source/Navigation/libraries/client/CMakeLists.txt
@@ -10,19 +10,21 @@ armarx_add_library(
# RobotAPI
aron
# Navigation
+ NavigatorInterfaces
Navigation::Core
Navigation::GlobalPlanning
Navigation::LocalPlanning
Navigation::TrajectoryControl
Navigation::SafetyControl
SOURCES
- # ./Navigator.cpp
+ ./Navigator.cpp
./NavigationStackConfig.cpp
- # ./NavigatorComponentPlugin.cpp
- HEADERS
+ ./ComponentPlugin.cpp
+ HEADERS
+ ../client.h
./Navigator.h
./NavigationStackConfig.h
- ./NavigatorComponentPlugin.h
+ ./ComponentPlugin.h
)
add_library(Navigation::Client ALIAS ${PROJECT_NAME}Client)
diff --git a/source/Navigation/libraries/client/ComponentPlugin.cpp b/source/Navigation/libraries/client/ComponentPlugin.cpp
new file mode 100644
index 00000000..a8277b9b
--- /dev/null
+++ b/source/Navigation/libraries/client/ComponentPlugin.cpp
@@ -0,0 +1,20 @@
+#include <Navigation/libraries/client/ComponentPlugin.h>
+
+
+armarx::nav::client::ComponentPlugin::~ComponentPlugin()
+{
+
+}
+
+
+armarx::nav::client::ComponentPluginUser::ComponentPluginUser()
+{
+ addPlugin(plugin);
+}
+
+
+armarx::nav::client::ComponentPluginUser::~ComponentPluginUser()
+{
+
+}
+
diff --git a/source/Navigation/libraries/client/ComponentPlugin.h b/source/Navigation/libraries/client/ComponentPlugin.h
new file mode 100644
index 00000000..8505213e
--- /dev/null
+++ b/source/Navigation/libraries/client/ComponentPlugin.h
@@ -0,0 +1,46 @@
+#pragma once
+
+
+// ArmarX
+#include <ArmarXCore/core/ComponentPlugin.h>
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+// Navigator
+#include <Navigation/libraries/client/Navigator.h>
+
+
+namespace armarx::nav::client
+{
+
+ class ComponentPlugin :
+ virtual public armarx::ComponentPlugin
+ {
+
+ public:
+
+ using armarx::ComponentPlugin::ComponentPlugin;
+ ~ComponentPlugin() override;
+
+ };
+
+
+ class ComponentPluginUser :
+ virtual public ManagedIceObject
+ {
+
+ public:
+
+ ComponentPluginUser();
+ ~ComponentPluginUser() override;
+
+ public:
+
+ Navigator navigator;
+
+ private:
+
+ ComponentPlugin* plugin = nullptr;
+
+ };
+
+}
diff --git a/source/Navigation/libraries/client/Navigator.cpp b/source/Navigation/libraries/client/Navigator.cpp
new file mode 100644
index 00000000..76932799
--- /dev/null
+++ b/source/Navigation/libraries/client/Navigator.cpp
@@ -0,0 +1,19 @@
+#include <Navigation/libraries/client/Navigator.h>
+
+
+void armarx::nav::client::Navigator::configure()
+{
+
+}
+
+
+void armarx::nav::client::Navigator::moveTo()
+{
+
+}
+
+
+void armarx::nav::client::Navigator::moveTowards()
+{
+
+}
diff --git a/source/Navigation/libraries/client/Navigator.h b/source/Navigation/libraries/client/Navigator.h
index a2c16cd5..f045dd42 100644
--- a/source/Navigation/libraries/client/Navigator.h
+++ b/source/Navigation/libraries/client/Navigator.h
@@ -20,13 +20,28 @@
* GNU General Public License
*/
+
+#include <Navigation/components/Navigator/NavigatorInterface.h>
+
+
namespace armarx::nav::client
{
class Navigator
{
+
public:
+
+ void configure();
+ void moveTo();
+ void moveTowards();
+
protected:
+
private:
+
+ components::NavigatorInterfacePrx navigator;
+
};
+
} // namespace armarx::nav::client
diff --git a/source/Navigation/libraries/client/NavigatorComponentPlugin.h b/source/Navigation/libraries/client/NavigatorComponentPlugin.h
deleted file mode 100644
index e69de29b..00000000
diff --git a/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.h b/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.h
index 7baf15a8..80e79738 100644
--- a/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.h
+++ b/source/Navigation/libraries/trajectory_control/TrajectoryFollowingController.h
@@ -25,7 +25,7 @@
#include "RobotAPI/libraries/core/MultiDimPIDController.h"
#include "Navigation/libraries/trajectory_control/TrajectoryController.h"
-#include "aron/TrajectoryFollowingControllerParams.aron.generated.h"
+//#include "aron/TrajectoryFollowingControllerParams.aron.generated.h"
namespace armarx::nav::traj_ctrl
{
--
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