create client Library for easy c

source/armarx/view_selection/CMakeLists.txt

@@ -3,6 +3,7 @@
 
 add_subdirectory(gaze_targets)
 add_subdirectory(gaze_controller)
+add_subdirectory(client)
 
 
 # Components

source/armarx/view_selection/client/CMakeLists.txt

-armarx_add_ice_library(client_ice
-    SLICE_FILES
-        ice/GazeSchedulerInterface.ice
-    DEPENDENCIES
-        ArmarXCoreInterfaces
-        RobotAPIInterfaces
-)
-
 armarx_add_library(client
     SOURCES
-        ice_conversions.cpp
-        AttentionType.cpp
-        TargetPriority.cpp
+        ViewSelection.cpp
     HEADERS
-        ice_conversions.h
-        AttentionType.h
-        TargetPriority.h
-        ../client.h
-    DEPENDENCIES_PUBLIC
+        ViewSelection.h
+    DEPENDENCIES
         ArmarXCoreInterfaces
         ArmarXCore
-        armarx_view_selection::client_ice
-        armarx_control::gaze_controller
-    # DEPENDENCIES_PRIVATE
-        # ...
-    # DEPENDENCIES_INTERFACE
-        # ...
-    # DEPENDENCIES_LEGACY_PUBLIC
-        # ...
-    # DEPENDENCIES_LEGACY_PRIVATE
-        # ...
-    # DEPENDENCIES_LEGACY_INTERFACE
-        # ...
+        armem_robot_state
+        armarx_view_selection::gaze_targets
 )

source/armarx/view_selection/client/ViewSelection.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    view_selection::ArmarXObjects::scheduler_example
+ * @author     Johann Mantel ( j-mantel at gmx dot net )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include <ArmarXCore/core/time.h>
+
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+#include "ViewSelection.h"
+#include <armarx/view_selection/memory/constants.h>
+
+namespace armarx::view_selection::client
+{
+
+    ViewSelection::ViewSelection(armarx::armem::client::MemoryNameSystem& mns,
+                                 std::string providerSegmentName) :
+        memoryNameSystem(mns), providerSegmentName(providerSegmentName),
+        coreSegmentID(memory::constants::ViewMemoryName,
+                          memory::constants::GazeTargetCoreSegmentName)
+    {
+    }
+
+    ViewSelection::~ViewSelection() = default;
+
+    void
+    ViewSelection::connect()
+    {
+        ARMARX_IMPORTANT << "ViewSelection: Waiting for memory '" << coreSegmentID << "' ...";
+        try
+        {
+            memoryWriter = memoryNameSystem.getWriter(coreSegmentID);
+            ARMARX_IMPORTANT << "ViewSelection: Connected to memory '" << coreSegmentID << "'";
+        }
+        catch (const armem::error::CouldNotResolveMemoryServer& e)
+        {
+            ARMARX_ERROR << e.what();
+            return;
+        }
+    }
+
+    void
+    ViewSelection::commitGazeTarget(const gaze_targets::GazeTarget& target)
+    {
+        if (not memoryWriter)
+        {
+            ARMARX_WARNING << "Memory writer is null. Did you forget to call "
+                              "ViewSelection::connect() in onConnectComponent()?";
+            return;
+        }
+
+        gaze_targets::arondto::GazeTarget dto;
+        toAron(dto, target);
+
+        armem::EntityUpdate update;
+        update.entityID = coreSegmentID.withProviderSegmentName(providerSegmentName).withEntityName(dto.name);
+        update.timeCreated = armarx::Clock::Now();
+        update.instancesData = {dto.toAron()};
+        memoryWriter.commit(update);
+    }
+
+    void
+    ViewSelection::commitGazeTargets(const std::vector<gaze_targets::GazeTarget>& targets)
+    {
+        for (const auto target : targets)
+        {
+            commitGazeTarget(target);
+        }
+    }
+
+} // namespace armarx::view_selection::client

source/armarx/view_selection/client/ViewSelection.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    view_selection::ArmarXObjects::scheduler_example
+ * @author     Johann Mantel ( j-mantel at gmx dot net )
+ * @date       2022
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+
+#include <RobotAPI/libraries/armem/client/plugins.h>
+// for writing
+#include <RobotAPI/libraries/armem/client/Writer.h>
+#include <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
+#include <RobotAPI/libraries/armem/core/error/mns.h>
+#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
+
+#include <armarx/view_selection/gaze_targets.h>
+
+namespace armarx::view_selection::client
+{
+    class ViewSelection
+    {
+    public:
+        ViewSelection(armarx::armem::client::MemoryNameSystem& mns,
+                      std::string providerSegmentName);
+        ~ViewSelection();
+
+        void connect();
+
+        void commitGazeTarget(const gaze_targets::GazeTarget& target);
+        void commitGazeTargets(const std::vector<gaze_targets::GazeTarget>& targets);
+
+    protected:
+    private:
+
+    private:
+        // Private member variables go here.
+        armarx::armem::client::MemoryNameSystem& memoryNameSystem;
+        std::string providerSegmentName;
+        const armarx::armem::MemoryID coreSegmentID;
+        armarx::armem::client::Writer memoryWriter;
+    };
+
+} // namespace armarx::view_selection::client