From 1995106540bd7be08cd492ebdf9c66e8527d430a Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 26 May 2021 11:35:01 +0200
Subject: [PATCH] cmake & impl: arviz drawer base class
---
.../RobotAPI/components/ArViz/CMakeLists.txt | 3 +
.../ArViz/Client/drawer/ArVizDrawerBase.cpp | 29 +++++++++
.../ArViz/Client/drawer/ArVizDrawerBase.h | 62 +++++++++++++++++++
3 files changed, 94 insertions(+)
create mode 100644 source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.cpp
create mode 100644 source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.h
diff --git a/source/RobotAPI/components/ArViz/CMakeLists.txt b/source/RobotAPI/components/ArViz/CMakeLists.txt
index 5a21a1cd4..d79d9a4ba 100644
--- a/source/RobotAPI/components/ArViz/CMakeLists.txt
+++ b/source/RobotAPI/components/ArViz/CMakeLists.txt
@@ -15,6 +15,7 @@ set(SOURCES
Client/elements/Mesh.cpp
Client/elements/Robot.cpp
Client/elements/RobotHand.cpp
+ Client/drawer/ArVizDrawerBase.cpp
Coin/ElementVisualizer.cpp
@@ -75,6 +76,8 @@ set(HEADERS
Client/elements/Robot.h
Client/elements/RobotHand.h
+ Client/drawer/ArVizDrawerBase.h
+
Client/elements/point_cloud_type_traits.hpp
Introspection/ElementJsonSerializers.h
diff --git a/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.cpp b/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.cpp
new file mode 100644
index 000000000..a19032cd0
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.cpp
@@ -0,0 +1,29 @@
+#include "ArVizDrawerBase.h"
+
+#include "RobotAPI/components/ArViz/Client/Client.h"
+#include "RobotAPI/components/ArViz/Client/Layer.h"
+
+namespace armarx
+{
+
+ ArVizDrawerBase::ArVizDrawerBase(armarx::viz::Client &arviz) : arvizClient(arviz) {}
+
+ ArVizDrawerBase::~ArVizDrawerBase() = default;
+
+ viz::Client &ArVizDrawerBase::arviz() { return arvizClient; }
+
+ const viz::Client &ArVizDrawerBase::arviz() const { return arvizClient; }
+
+ void ArVizDrawerBase::commit(const viz::Layer &layer)
+ {
+ std::lock_guard guard{layerMtx};
+ arvizClient.commit(layer);
+ }
+
+ void ArVizDrawerBase::commit(const std::vector<viz::Layer> &layers)
+ {
+ std::lock_guard guard{layerMtx};
+ arvizClient.commit(layers);
+ }
+
+} // namespace armarx
diff --git a/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.h b/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.h
new file mode 100644
index 000000000..f7c813be7
--- /dev/null
+++ b/source/RobotAPI/components/ArViz/Client/drawer/ArVizDrawerBase.h
@@ -0,0 +1,62 @@
+/*
+ * 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 <mutex>
+#include <vector>
+
+namespace armarx
+{
+ // forward declaration
+ namespace viz
+ {
+ class Client;
+ struct Layer;
+ } // namespace viz
+
+ /**
+ * @brief The ArVizDrawerBase class. Use this class to draw arbitrary objects.
+ *
+ * Instead of implementing arviz drawing in the component itself, this class helps to
+ * decouple drawing from "component / processing logic".
+ *
+ */
+ class ArVizDrawerBase
+ {
+ public:
+ ArVizDrawerBase(armarx::viz::Client &arviz);
+ virtual ~ArVizDrawerBase();
+
+ protected:
+ viz::Client &arviz();
+ const viz::Client &arviz() const;
+
+ void commit(const viz::Layer &layer);
+ void commit(const std::vector<viz::Layer> &layers);
+
+ private:
+ viz::Client &arvizClient;
+
+ std::mutex layerMtx;
+ };
+
+} // namespace armarx
--
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