diff --git a/source/Navigation/components/Navigator/Navigator.cpp b/source/Navigation/components/Navigator/Navigator.cpp
index cbcf31cbf144a3453d3d81e72d4d980adaa0f4ea..3f16c96100f0356715b67d9e3203bc662c556caf 100644
--- a/source/Navigation/components/Navigator/Navigator.cpp
+++ b/source/Navigation/components/Navigator/Navigator.cpp
@@ -39,7 +39,6 @@
#include "Navigation/libraries/util/util.h"
#include <Navigation/libraries/factories/NavigationStackFactory.h>
-
armarx::nav::components::Navigator::Navigator() : executor{platformUnit}
{
}
@@ -48,60 +47,48 @@ armarx::nav::components::Navigator::~Navigator()
{
}
-
-void
-armarx::nav::components::Navigator::onInitComponent()
+void armarx::nav::components::Navigator::onInitComponent()
{
}
-
-void
-armarx::nav::components::Navigator::onConnectComponent()
+void armarx::nav::components::Navigator::onConnectComponent()
{
}
-
-void
-armarx::nav::components::Navigator::onDisconnectComponent()
+void armarx::nav::components::Navigator::onDisconnectComponent()
{
}
-
-void
-armarx::nav::components::Navigator::onExitComponent()
+void armarx::nav::components::Navigator::onExitComponent()
{
}
-
-void
-armarx::nav::components::Navigator::updateContext()
+void armarx::nav::components::Navigator::updateContext()
{
scene.staticScene = staticScene();
scene.robot = getRobot();
}
-
-std::string
-armarx::nav::components::Navigator::getDefaultName() const
+std::string armarx::nav::components::Navigator::getDefaultName() const
{
return "Navigator";
}
-
-std::vector<armarx::nav::core::Pose>
-convert(const std::vector<Eigen::Matrix4f>& wps)
+std::vector<armarx::nav::core::Pose> convert(const std::vector<Eigen::Matrix4f>& wps)
{
using namespace armarx::nav;
std::vector<core::Pose> p;
p.reserve(wps.size());
- std::transform(wps.begin(), wps.end(), std::back_inserter(p), [](const auto & p)
+ std::transform(wps.begin(),
+ wps.end(),
+ std::back_inserter(p),
+ [](const auto & p)
{
return Eigen::Affine3f(p);
});
return p;
}
-
std::string
armarx::nav::components::Navigator::createConfig(const aron::data::AronDictPtr& stackConfig,
const Ice::Current&)
@@ -115,50 +102,39 @@ armarx::nav::components::Navigator::createConfig(const aron::data::AronDictPtr&
return uuid;
}
-
-void
-armarx::nav::components::Navigator::moveTo(const std::vector<Eigen::Matrix4f>& waypoints,
+void armarx::nav::components::Navigator::moveTo(const std::vector<Eigen::Matrix4f>& waypoints,
const std::string& navigationMode,
const std::string& configId,
const Ice::Current&)
{
// TODO: Error handling.
- navigators.at(configId).moveTo(convert(waypoints), core::NavigationFramesMap.from_name(navigationMode));
+ navigators.at(configId).moveTo(convert(waypoints),
+ core::NavigationFramesMap.from_name(navigationMode));
}
-
-void
-armarx::nav::components::Navigator::moveTowards(const Eigen::Vector3f& direction,
+void armarx::nav::components::Navigator::moveTowards(const Eigen::Vector3f& direction,
const std::string& navigationMode,
const std::string& configId,
const Ice::Current&)
{
// TODO: Error handling.
- navigators.at(configId).moveTowards(direction, core::NavigationFramesMap.from_name(navigationMode));
+ navigators.at(configId).moveTowards(direction,
+ core::NavigationFramesMap.from_name(navigationMode));
}
-
-void
-armarx::nav::components::Navigator::pauseMovement(const Ice::Current&)
+void armarx::nav::components::Navigator::pauseMovement(const Ice::Current&)
{
-
}
-
-void
-armarx::nav::components::Navigator::resumeMovement(const Ice::Current&)
+void armarx::nav::components::Navigator::resumeMovement(const Ice::Current&)
{
-
}
-
-armarx::PropertyDefinitionsPtr
-armarx::nav::components::Navigator::createPropertyDefinitions()
+armarx::PropertyDefinitionsPtr armarx::nav::components::Navigator::createPropertyDefinitions()
{
- armarx::PropertyDefinitionsPtr def =
- new ComponentPropertyDefinitions(getConfigIdentifier());
+ armarx::PropertyDefinitionsPtr def = new ComponentPropertyDefinitions(getConfigIdentifier());
// Publish to a topic (passing the TopicListenerPrx).
// def->topic(myTopicListener);
@@ -167,7 +143,7 @@ armarx::nav::components::Navigator::createPropertyDefinitions()
// def->topic<PlatformUnitListener>("MyTopic");
// Use (and depend on) another component (passing the ComponentInterfacePrx).
- def->component(platformUnit);
+ // def->component(platformUnit);
// Add a required property.
// def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
@@ -178,9 +154,7 @@ armarx::nav::components::Navigator::createPropertyDefinitions()
return def;
}
-
-armarx::nav::core::StaticScene
-armarx::nav::components::Navigator::staticScene()
+armarx::nav::core::StaticScene armarx::nav::components::Navigator::staticScene()
{
core::StaticScene scene;
@@ -191,9 +165,7 @@ armarx::nav::components::Navigator::staticScene()
return scene;
}
-
-VirtualRobot::RobotPtr
-armarx::nav::components::Navigator::getRobot()
+VirtualRobot::RobotPtr armarx::nav::components::Navigator::getRobot()
{
auto robot = RemoteRobot::createLocalCloneFromFile(
getRobotStateComponent(), VirtualRobot::RobotIO::RobotDescription::eFull);
@@ -207,3 +179,60 @@ armarx::nav::components::Navigator::getRobot()
return robot;
}
+
+
+void armarx::nav::components::Navigator::createRemoteGuiTab()
+{
+ using namespace armarx::RemoteGui::Client;
+
+ // Setup the widgets.
+
+ tab.boxLayerName.setValue(0);
+ tab.numBoxes.setValue(1);
+ 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 armarx::nav::components::Navigator::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);
+ // drawBoxes(properties, arviz);
+ }
+}
diff --git a/source/Navigation/components/Navigator/Navigator.h b/source/Navigation/components/Navigator/Navigator.h
index a22d4de00766b499cebb59ff16db3fa695fb6c2b..16ad98af456be7461d78847456433a9836e0c072 100644
--- a/source/Navigation/components/Navigator/Navigator.h
+++ b/source/Navigation/components/Navigator/Navigator.h
@@ -20,10 +20,8 @@
* GNU General Public License
*/
-
#pragma once
-
// STD/STL
#include <optional>
#include <string>
@@ -34,6 +32,9 @@
// ArmarX
#include <ArmarXCore/core/Component.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>
@@ -41,10 +42,9 @@
// Navigation
#include "Navigation/libraries/core/StaticScene.h"
#include "Navigation/libraries/core/types.h"
+#include <Navigation/components/Navigator/NavigatorInterface.h>
#include <Navigation/libraries/server/Navigator.h>
#include <Navigation/libraries/server/execution/PlatformUnitExecutor.h>
-#include <Navigation/components/Navigator/NavigatorInterface.h>
-
namespace armarx::nav::components
{
@@ -64,11 +64,11 @@ namespace armarx::nav::components
virtual public armarx::Component,
virtual public NavigatorInterface,
virtual public armarx::ObjectPoseClientPluginUser,
- virtual public armarx::RobotStateComponentPluginUser
+ virtual public armarx::RobotStateComponentPluginUser,
+ virtual public armarx::LightweightRemoteGuiComponentPluginUser
{
public:
-
Navigator();
~Navigator() override;
@@ -115,16 +115,32 @@ namespace armarx::nav::components
VirtualRobot::RobotPtr getRobot();
+ void createRemoteGuiTab();
+ void RemoteGui_update() override;
+
+
private:
// TODO update context periodically
-
PlatformUnitInterfacePrx platformUnit;
core::Scene scene;
server::PlatformUnitExecutor executor;
std::map<std::string, server::Navigator> navigators;
+
+
+ std::mutex propertiesMutex;
+
+ struct RemoteGuiTab : armarx::RemoteGui::Client::Tab
+ {
+ armarx::RemoteGui::Client::LineEdit boxLayerName;
+
+ armarx::RemoteGui::Client::IntSpinBox numBoxes;
+
+ armarx::RemoteGui::Client::Button drawBoxes;
+ };
+ RemoteGuiTab tab;
};
} // namespace armarx::nav::components