From fe49a3ea195237ebdd78ea263e4e3350caf1e05f Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 4 May 2022 18:38:32 +0200
Subject: [PATCH] implementing additional events
---
source/armarx/navigation/core/aron/Events.xml | 15 +++++++++
.../navigation/core/aron_conversions.cpp | 31 +++++++++++++++++++
.../armarx/navigation/core/aron_conversions.h | 16 ++++++++--
.../memory/client/events/Writer.cpp | 26 +++++++++++++---
.../navigation/memory/client/events/Writer.h | 6 ++--
.../event_publishing/MemoryPublisher.cpp | 8 ++---
6 files changed, 88 insertions(+), 14 deletions(-)
diff --git a/source/armarx/navigation/core/aron/Events.xml b/source/armarx/navigation/core/aron/Events.xml
index d7d29939..a0be50ec 100644
--- a/source/armarx/navigation/core/aron/Events.xml
+++ b/source/armarx/navigation/core/aron/Events.xml
@@ -53,5 +53,20 @@
</ObjectChild>
</Object>
+ <Object name='armarx::navigation::core::arondto::SafetyThrottlingTriggeredEvent'>
+ <ObjectChild key='pose'>
+ <Pose />
+ </ObjectChild>
+ <ObjectChild key='throttlingFactor'>
+ <float />
+ </ObjectChild>
+ </Object>
+
+ <Object name='armarx::navigation::core::arondto::SafetyStopTriggeredEvent'>
+ <ObjectChild key='pose'>
+ <Pose />
+ </ObjectChild>
+ </Object>
+
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/armarx/navigation/core/aron_conversions.cpp b/source/armarx/navigation/core/aron_conversions.cpp
index 4a974067..0aeaa75b 100644
--- a/source/armarx/navigation/core/aron_conversions.cpp
+++ b/source/armarx/navigation/core/aron_conversions.cpp
@@ -196,4 +196,35 @@ namespace armarx::navigation::core
aron::fromAron(dto.pose, bo.pose.matrix());
}
+
+ void
+ toAron(armarx::navigation::core::arondto::SafetyThrottlingTriggeredEvent& dto,
+ const armarx::navigation::core::SafetyThrottlingTriggeredEvent& bo)
+ {
+ aron::toAron(dto.pose, bo.pose.matrix());
+ aron::toAron(dto.throttlingFactor, bo.throttlingFactor);
+ }
+
+ void
+ fromAron(const armarx::navigation::core::arondto::SafetyThrottlingTriggeredEvent& dto,
+ armarx::navigation::core::SafetyThrottlingTriggeredEvent& bo)
+ {
+ aron::fromAron(dto.pose, bo.pose.matrix());
+ aron::fromAron(dto.throttlingFactor, bo.throttlingFactor);
+ }
+
+ void
+ toAron(armarx::navigation::core::arondto::SafetyStopTriggeredEvent& dto,
+ const armarx::navigation::core::SafetyStopTriggeredEvent& bo)
+ {
+ aron::toAron(dto.pose, bo.pose.matrix());
+ }
+
+ void
+ fromAron(const armarx::navigation::core::arondto::SafetyStopTriggeredEvent& dto,
+ armarx::navigation::core::SafetyStopTriggeredEvent& 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 654fd409..50f6cb44 100644
--- a/source/armarx/navigation/core/aron_conversions.h
+++ b/source/armarx/navigation/core/aron_conversions.h
@@ -63,7 +63,7 @@ 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);
@@ -75,7 +75,7 @@ namespace armarx::navigation::core
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);
@@ -97,5 +97,17 @@ namespace armarx::navigation::core
void fromAron(const armarx::navigation::core::arondto::UserAbortTriggeredEvent& dto,
armarx::navigation::core::UserAbortTriggeredEvent& bo);
+ void toAron(armarx::navigation::core::arondto::SafetyThrottlingTriggeredEvent& dto,
+ const armarx::navigation::core::SafetyThrottlingTriggeredEvent& bo);
+
+ void fromAron(const armarx::navigation::core::arondto::SafetyThrottlingTriggeredEvent& dto,
+ armarx::navigation::core::SafetyThrottlingTriggeredEvent& bo);
+
+ void toAron(armarx::navigation::core::arondto::SafetyStopTriggeredEvent& dto,
+ const armarx::navigation::core::SafetyStopTriggeredEvent& bo);
+
+ void fromAron(const armarx::navigation::core::arondto::SafetyStopTriggeredEvent& dto,
+ armarx::navigation::core::SafetyStopTriggeredEvent& 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 4325c44a..ab64f942 100644
--- a/source/armarx/navigation/memory/client/events/Writer.cpp
+++ b/source/armarx/navigation/memory/client/events/Writer.cpp
@@ -70,7 +70,8 @@ namespace armarx::navigation::memory::client::events
bool
Writer::store(const core::WaypointReachedEvent& event, const std::string& clientID)
{
- return storeImpl<core::arondto::WaypointReachedEvent>(event, "WaypointReachedEvent", clientID);
+ return storeImpl<core::arondto::WaypointReachedEvent>(
+ event, "WaypointReachedEvent", clientID);
}
bool
@@ -82,19 +83,36 @@ namespace armarx::navigation::memory::client::events
bool
Writer::store(const core::GlobalPlanningFailedEvent& event, const std::string& clientID)
{
- return storeImpl<core::arondto::GlobalPlanningFailedEvent>(event, "GlobalPlanningFailedEvent", clientID);
+ return storeImpl<core::arondto::GlobalPlanningFailedEvent>(
+ event, "GlobalPlanningFailedEvent", clientID);
}
bool
Writer::store(const core::MovementStartedEvent& event, const std::string& clientID)
{
- return storeImpl<core::arondto::MovementStartedEvent>(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);
+ return storeImpl<core::arondto::UserAbortTriggeredEvent>(
+ event, "UserAbortTriggered", clientID);
+ }
+
+ bool
+ Writer::store(const core::SafetyThrottlingTriggeredEvent& event, const std::string& clientID)
+ {
+ return storeImpl<core::arondto::SafetyThrottlingTriggeredEvent>(
+ event, "SafetyThrottlingTriggeredEvent", clientID);
+ }
+
+ bool
+ Writer::store(const core::SafetyStopTriggeredEvent& event, const std::string& clientID)
+ {
+ return storeImpl<core::arondto::SafetyStopTriggeredEvent>(
+ event, "SafetyStopTriggeredEvent", clientID);
}
diff --git a/source/armarx/navigation/memory/client/events/Writer.h b/source/armarx/navigation/memory/client/events/Writer.h
index 16812c15..7ad07d7d 100644
--- a/source/armarx/navigation/memory/client/events/Writer.h
+++ b/source/armarx/navigation/memory/client/events/Writer.h
@@ -38,15 +38,13 @@ namespace armarx::navigation::memory::client::events
using armem::client::util::SimpleWriterBase::SimpleWriterBase;
bool store(const core::GoalReachedEvent& event, const std::string& clientID);
-
bool store(const core::WaypointReachedEvent& event, const std::string& clientID);
-
bool store(const core::InternalErrorEvent& 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);
+ bool store(const core::SafetyThrottlingTriggeredEvent& event, const std::string& clientID);
+ bool store(const core::SafetyStopTriggeredEvent& event, const std::string& clientID);
std::string propertyPrefix() const override;
diff --git a/source/armarx/navigation/server/event_publishing/MemoryPublisher.cpp b/source/armarx/navigation/server/event_publishing/MemoryPublisher.cpp
index 8f3b9d42..6226169b 100644
--- a/source/armarx/navigation/server/event_publishing/MemoryPublisher.cpp
+++ b/source/armarx/navigation/server/event_publishing/MemoryPublisher.cpp
@@ -21,14 +21,14 @@ namespace armarx::navigation::server
void
MemoryPublisher::safetyThrottlingTriggered(const core::SafetyThrottlingTriggeredEvent& event)
{
- // eventsWriter->store(event, clientId);
+ eventsWriter->store(event, clientId);
}
void
MemoryPublisher::safetyStopTriggered(const core::SafetyStopTriggeredEvent& event)
{
- // eventsWriter->store(event, clientId);
+ eventsWriter->store(event, clientId);
}
@@ -54,7 +54,7 @@ namespace armarx::navigation::server
void
MemoryPublisher::localTrajectoryUpdated(const loc_plan::LocalPlannerResult& res)
{
- // TODO resultWriter->store(res, clientId);
+ // resultWriter->store(res, clientId);
}
void
@@ -63,7 +63,7 @@ namespace armarx::navigation::server
resultWriter->store(res, clientId);
}
- // TODO event with message or reason (enum)
+ // TODO(fabian.reister): event with message or reason (enum)
void
MemoryPublisher::globalPlanningFailed(const core::GlobalPlanningFailedEvent& event)
{
--
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