Add MultiHandUnit

It bundles multiple HandUnits and provides access to them via name.
This makes HandUnits usable in statecharts

data/RobotAPI/VariantInfo-RobotAPI.xml

@@ -267,5 +267,14 @@
                    propertyName="FrameTrackingName"
                    propertyIsOptional="true"
                    propertyDefaultValue="FrameTracking" />
+
+        <Proxy include="RobotAPI/interface/units/MultiHandUnitInterface.h"
+                   humanName="MultiHandUnit"
+                   typeName="MultiHandUnitInterfacePrx"
+                   memberName="multiHandUnit"
+                   getterName="getMultiHandUnit"
+                   propertyName="MultiHandUnitName"
+                   propertyIsOptional="true"
+                   propertyDefaultValue="MultiHandUnit" />
     </Lib>
 </VariantInfo>

source/RobotAPI/applications/CMakeLists.txt

@@ -47,4 +47,6 @@ add_subdirectory(GraspCandidateObserver)
 
 add_subdirectory(FrameTracking)
 
-add_subdirectory(KITHandUnit)
\ No newline at end of file
+add_subdirectory(KITHandUnit)
+add_subdirectory(MultiHandUnit)
+

source/RobotAPI/applications/MultiHandUnit/CMakeLists.txt

+armarx_component_set_name("MultiHandUnitApp")
+set(COMPONENT_LIBS MultiHandUnit)
+armarx_add_component_executable(main.cpp)
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+# all target_include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+#    target_include_directories(MultiHandUnit PUBLIC ${MyLib_INCLUDE_DIRS})
+#endif()

source/RobotAPI/applications/MultiHandUnit/main.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    RobotAPI::application::MultiHandUnit
+ * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date       2019
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include <RobotAPI/components/MultiHandUnit/MultiHandUnit.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+    return armarx::runSimpleComponentApp < armarx::MultiHandUnit > (argc, argv, "MultiHandUnit");
+}

source/RobotAPI/components/CMakeLists.txt

@@ -11,4 +11,6 @@ add_subdirectory(CyberGloveObserver)
 add_subdirectory(RobotHealth)
 add_subdirectory(FrameTracking)
 
-add_subdirectory(KITHandUnit)
\ No newline at end of file
+add_subdirectory(KITHandUnit)
+add_subdirectory(MultiHandUnit)
+

source/RobotAPI/components/MultiHandUnit/CMakeLists.txt

+armarx_component_set_name("MultiHandUnit")
+
+set(COMPONENT_LIBS
+    ArmarXCore
+    RobotAPICore
+)
+
+set(SOURCES MultiHandUnit.cpp)
+set(HEADERS MultiHandUnit.h)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+# add unit tests
+add_subdirectory(test)

source/RobotAPI/components/MultiHandUnit/MultiHandUnit.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    RobotAPI::ArmarXObjects::MultiHandUnit
+ * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date       2019
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "MultiHandUnit.h"
+
+
+namespace armarx
+{
+    MultiHandUnitPropertyDefinitions::MultiHandUnitPropertyDefinitions(std::string prefix) :
+        armarx::ComponentPropertyDefinitions(prefix)
+    {
+        defineOptionalProperty<std::string>("HandUnitNameCSV", "", "");
+    }
+
+
+    std::string MultiHandUnit::getDefaultName() const
+    {
+        return "MultiHandUnit";
+    }
+
+
+    void MultiHandUnit::onInitComponent()
+    {
+        const auto units = getPropertyAsCSV<std::string>("HandUnitNameCSV");
+        if (units.empty())
+        {
+            ARMARX_ERROR << "PROPERTY HandUnitNameCSV IS EMPTY";
+        }
+        _handInfos.reserve(units.size());
+        for (const auto& name : units)
+        {
+            _handInfos.emplace_back();
+            _handInfos.back().proxyName = name;
+            usingProxy(name);
+        }
+    }
+
+    void MultiHandUnit::onConnectComponent()
+    {
+        for (auto& info : _handInfos)
+        {
+            getProxy(info.proxy, info.proxyName);
+            info.handName = info.proxy->getHandName();
+            _hands[info.handName] = info.proxy;
+        }
+    }
+
+    void MultiHandUnit::onDisconnectComponent()
+    {
+        _hands.clear();
+    }
+
+    void MultiHandUnit::onExitComponent()
+    {
+
+    }
+
+    armarx::PropertyDefinitionsPtr MultiHandUnit::createPropertyDefinitions()
+    {
+        return armarx::PropertyDefinitionsPtr(new MultiHandUnitPropertyDefinitions(
+                getConfigIdentifier()));
+    }
+
+    HandInfoSeq MultiHandUnit::getHandInfos(const Ice::Current&)
+    {
+        return _handInfos;
+    }
+
+    void MultiHandUnit::setJointValues(const std::string& handName, const NameValueMap& jointValues, const Ice::Current&)
+    {
+        _hands.at(handName)->setJointAngles(jointValues);
+    }
+
+    NameValueMap MultiHandUnit::getJointValues(const std::string& handName, const Ice::Current&)
+    {
+        return _hands.at(handName)->getCurrentJointValues();
+    }
+}

source/RobotAPI/components/MultiHandUnit/MultiHandUnit.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    RobotAPI::ArmarXObjects::MultiHandUnit
+ * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date       2019
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+
+#include <RobotAPI/interface/units/MultiHandUnitInterface.h>
+
+
+namespace armarx
+{
+    /**
+     * @class MultiHandUnitPropertyDefinitions
+     * @brief
+     */
+    class MultiHandUnitPropertyDefinitions :
+        public armarx::ComponentPropertyDefinitions
+    {
+    public:
+        MultiHandUnitPropertyDefinitions(std::string prefix);
+    };
+
+
+
+    /**
+     * @defgroup Component-MultiHandUnit MultiHandUnit
+     * @ingroup RobotAPI-Components
+     * A description of the component MultiHandUnit.
+     *
+     * @class MultiHandUnit
+     * @ingroup Component-MultiHandUnit
+     * @brief Brief description of class MultiHandUnit.
+     *
+     * Detailed description of class MultiHandUnit.
+     */
+    class MultiHandUnit :
+        virtual public armarx::Component,
+        virtual public MultiHandUnitInterface
+    {
+    public:
+
+        /// @see armarx::ManagedIceObject::getDefaultName()
+        virtual std::string getDefaultName() const override;
+
+
+    protected:
+
+        /// @see armarx::ManagedIceObject::onInitComponent()
+        virtual void onInitComponent() override;
+
+        /// @see armarx::ManagedIceObject::onConnectComponent()
+        virtual void onConnectComponent() override;
+
+        /// @see armarx::ManagedIceObject::onDisconnectComponent()
+        virtual void onDisconnectComponent() override;
+
+        /// @see armarx::ManagedIceObject::onExitComponent()
+        virtual void onExitComponent() override;
+
+        /// @see PropertyUser::createPropertyDefinitions()
+        virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+        HandInfoSeq getHandInfos(const Ice::Current& = Ice::emptyCurrent) override;
+        void setJointValues(const std::string& handName, const NameValueMap& jointValues, const Ice::Current& = Ice::emptyCurrent) override;
+        NameValueMap getJointValues(const std::string& handName, const Ice::Current& = Ice::emptyCurrent) override;
+    private:
+        HandInfoSeq _handInfos;
+        std::map<std::string, HandUnitInterfacePrx> _hands;
+    };
+}

source/RobotAPI/components/MultiHandUnit/test/CMakeLists.txt

+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore MultiHandUnit)
+ 
+armarx_add_test(MultiHandUnitTest MultiHandUnitTest.cpp "${LIBS}")

source/RobotAPI/components/MultiHandUnit/test/MultiHandUnitTest.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    RobotAPI::ArmarXObjects::MultiHandUnit
+ * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date       2019
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::MultiHandUnit
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include <RobotAPI/components/MultiHandUnit/MultiHandUnit.h>
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+    armarx::MultiHandUnit instance;
+
+    BOOST_CHECK_EQUAL(true, true);
+}

source/RobotAPI/interface/CMakeLists.txt

@@ -27,6 +27,7 @@ set(SLICE_FILES
     observers/SpeechObserverInterface.ice
     observers/GraspCandidateObserverInterface.ice
 
+    units/MultiHandUnitInterface.ice
     units/ForceTorqueUnit.ice
     units/InertialMeasurementUnit.ice
     units/OptoForceUnit.ice

source/RobotAPI/interface/units/MultiHandUnitInterface.ice

+/**
+* 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 as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* 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 Lesser 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    RobotAPI
+* @author     Simon Ottenhaus
+* @copyright  2019 Humanoids Group, H2T, KIT
+* @license    http://www.gnu.org/licenses/gpl-2.0.txt
+*             GNU General Public License
+*/
+
+#pragma once
+
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+
+#include <RobotAPI/interface/units/HandUnitInterface.ice>
+
+module armarx
+{
+    struct HandInfo
+    {
+        HandUnitInterface* proxy;
+        //string handType;
+        string proxyName;
+        string handName;
+        //Ice::StringSeq jointNames;
+    };
+    sequence<HandInfo> HandInfoSeq;
+
+    interface MultiHandUnitInterface
+    {
+        HandInfoSeq getHandInfos();
+        void setJointValues(string handName, NameValueMap jointValues);
+        NameValueMap getJointValues(string handName);
+    };
+};
+