diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
index 72e5b8f33073f716e9d3a299ea26dda288dc6066..70b399165ad3c229d96289676e0da6f2280e91a4 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
@@ -49,8 +49,8 @@
namespace armarx::articulated_object
{
ArticulatedObjectLocalizerExample::ArticulatedObjectLocalizerExample() :
- articulatedObjectWriter(new ::armarx::armem::articulated_object::ArticulatedObjectWriter(memoryNameSystem)),
- articulatedObjectReader(new ::armarx::armem::articulated_object::ArticulatedObjectReader(memoryNameSystem))
+ articulatedObjectWriter(new ::armarx::armem::articulated_object::ArticulatedObjectWriter(memoryNameSystem())),
+ articulatedObjectReader(new ::armarx::armem::articulated_object::ArticulatedObjectReader(memoryNameSystem()))
{
}
@@ -90,7 +90,8 @@ namespace armarx::articulated_object
start = armem::Time::now();
task = new PeriodicTask<ArticulatedObjectLocalizerExample>(
- this, &ArticulatedObjectLocalizerExample::run, 1000.f / p.updateFrequency);
+ this, &ArticulatedObjectLocalizerExample::run,
+ static_cast<int>(1000.f / p.updateFrequency));
task->start();
}
diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
index b4cab3fc71e6d6b1dd92e3128fd3a90a8c191109..e3747fb3f23fb4429ab7a9d028d85efd3f2befaa 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.h
@@ -13,7 +13,7 @@
#include "RobotAPI/libraries/armem/core/Time.h"
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
-#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/client/plugins.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectReader.h>
#include <RobotAPI/libraries/armem_objects/client/articulated_object/ArticulatedObjectWriter.h>
diff --git a/source/RobotAPI/components/armem/MemoryNameSystem/CMakeLists.txt b/source/RobotAPI/components/armem/MemoryNameSystem/CMakeLists.txt
index 75a50c54304d11e5452f1e4d1f8287a65fd0e9f6..fa06c3e77bf057e9ca37e790f908e981db1147af 100644
--- a/source/RobotAPI/components/armem/MemoryNameSystem/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/MemoryNameSystem/CMakeLists.txt
@@ -19,4 +19,6 @@ set(HEADERS
armarx_add_component("${SOURCES}" "${HEADERS}")
#generate the application
-armarx_generate_and_add_component_executable()
+armarx_generate_and_add_component_executable(
+ COMPONENT_NAMESPACE "armarx::armem"
+)
diff --git a/source/RobotAPI/components/armem/MemoryNameSystem/MemoryNameSystem.cpp b/source/RobotAPI/components/armem/MemoryNameSystem/MemoryNameSystem.cpp
index 47131a79a44f25dabc1e3364fcc7d3d044b3e506..0ebd0eac1dad18f7c53374c4a4fcc5ba173bbf14 100644
--- a/source/RobotAPI/components/armem/MemoryNameSystem/MemoryNameSystem.cpp
+++ b/source/RobotAPI/components/armem/MemoryNameSystem/MemoryNameSystem.cpp
@@ -29,16 +29,12 @@
#include <RobotAPI/libraries/armem/core/error.h>
-namespace armarx
+namespace armarx::armem
{
- MemoryNameSystemPropertyDefinitions::MemoryNameSystemPropertyDefinitions(std::string prefix) :
- armarx::ComponentPropertyDefinitions(prefix)
- {
- }
armarx::PropertyDefinitionsPtr MemoryNameSystem::createPropertyDefinitions()
{
- armarx::PropertyDefinitionsPtr defs = new MemoryNameSystemPropertyDefinitions(getConfigIdentifier());
+ armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
return defs;
}
@@ -58,7 +54,7 @@ namespace armarx
void MemoryNameSystem::onConnectComponent()
{
- RemoteGui__createTab();
+ createRemoteGuiTab();
RemoteGui_startRunningTask();
}
@@ -73,19 +69,19 @@ namespace armarx
}
- armem::data::RegisterMemoryResult MemoryNameSystem::registerMemory(
- const armem::data::RegisterMemoryInput& input, const Ice::Current& c)
+ mns::dto::RegisterServerResult MemoryNameSystem::registerServer(
+ const mns::dto::RegisterServerInput& input, const Ice::Current& c)
{
- armem::data::RegisterMemoryResult result = Plugin::registerMemory(input, c);
+ mns::dto::RegisterServerResult result = PluginUser::registerServer(input, c);
tab.rebuild = true;
return result;
}
- armem::data::RemoveMemoryResult MemoryNameSystem::removeMemory(
- const armem::data::RemoveMemoryInput& input, const Ice::Current& c)
+ mns::dto::RemoveServerResult MemoryNameSystem::removeServer(
+ const mns::dto::RemoveServerInput& input, const Ice::Current& c)
{
- armem::data::RemoveMemoryResult result = Plugin::removeMemory(input, c);
+ mns::dto::RemoveServerResult result = PluginUser::removeServer(input, c);
tab.rebuild = true;
return result;
}
@@ -94,12 +90,12 @@ namespace armarx
// REMOTE GUI
- void MemoryNameSystem::RemoteGui__createTab()
+ void MemoryNameSystem::createRemoteGuiTab()
{
using namespace armarx::RemoteGui::Client;
std::scoped_lock lock(mnsMutex);
- GridLayout grid = mns.RemoteGui_buildInfoGrid();
+ GridLayout grid = mns().RemoteGui_buildInfoGrid();
VBoxLayout root = {grid, VSpacer()};
RemoteGui_createTab(getName(), root, &tab);
@@ -110,7 +106,7 @@ namespace armarx
{
if (tab.rebuild.exchange(false))
{
- RemoteGui__createTab();
+ createRemoteGuiTab();
}
}
diff --git a/source/RobotAPI/components/armem/MemoryNameSystem/MemoryNameSystem.h b/source/RobotAPI/components/armem/MemoryNameSystem/MemoryNameSystem.h
index 795aecc66f96423aa29b28660694e09ea50a1426..f0279f4a1103a6b6f5a88f4b31ab5692cc5bda74 100644
--- a/source/RobotAPI/components/armem/MemoryNameSystem/MemoryNameSystem.h
+++ b/source/RobotAPI/components/armem/MemoryNameSystem/MemoryNameSystem.h
@@ -22,33 +22,16 @@
#pragma once
-#include <mutex>
-
-#include <ArmarXCore/core/Component.h>
+#include <RobotAPI/libraries/armem/mns/plugins/PluginUser.h>
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
-// #include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-
-#include <RobotAPI/libraries/armem/mns/ComponentPlugin.h>
+#include <ArmarXCore/core/Component.h>
-namespace armarx
+namespace armarx::armem
{
- /**
- * @class MemoryNameSystemPropertyDefinitions
- * @brief Property definitions of `MemoryNameSystem`.
- */
- class MemoryNameSystemPropertyDefinitions :
- public armarx::ComponentPropertyDefinitions
- {
- public:
- MemoryNameSystemPropertyDefinitions(std::string prefix);
- };
-
-
-
/**
* @defgroup Component-MemoryNameSystem MemoryNameSystem
* @ingroup RobotAPI-Components
@@ -62,11 +45,9 @@ namespace armarx
*/
class MemoryNameSystem :
virtual public armarx::Component
- , virtual public armem::mns::ComponentPluginUser
+ , virtual public armem::mns::plugins::PluginUser
, virtual public LightweightRemoteGuiComponentPluginUser
- // , virtual public armarx::ArVizComponentPluginUser
{
- using Plugin = ComponentPluginUser;
public:
/// @see armarx::ManagedIceObject::getDefaultName()
@@ -75,20 +56,23 @@ namespace armarx
// mns::MemoryNameSystemInterface interface
public:
- armem::data::RegisterMemoryResult registerMemory(const armem::data::RegisterMemoryInput& input, const Ice::Current&) override;
- armem::data::RemoveMemoryResult removeMemory(const armem::data::RemoveMemoryInput& input, const Ice::Current&) override;
+ mns::dto::RegisterServerResult registerServer(const mns::dto::RegisterServerInput& input, const Ice::Current&) override;
+ mns::dto::RemoveServerResult removeServer(const mns::dto::RemoveServerInput& input, const Ice::Current&) override;
// Others are inherited from ComponentPluginUser
// LightweightRemoteGuiComponentPluginUser interface
public:
- void RemoteGui__createTab();
+ void createRemoteGuiTab();
void RemoteGui_update() override;
protected:
+ /// @see PropertyUser::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
/// @see armarx::ManagedIceObject::onInitComponent()
void onInitComponent() override;
@@ -101,17 +85,13 @@ namespace armarx
/// @see armarx::ManagedIceObject::onExitComponent()
void onExitComponent() override;
- /// @see PropertyUser::createPropertyDefinitions()
- armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
-
private:
struct Properties
{
-
};
- Properties p;
+ Properties properties;
struct RemoteGuiTab : RemoteGui::Client::Tab
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/CMakeLists.txt b/source/RobotAPI/components/armem/client/ExampleMemoryClient/CMakeLists.txt
index d699638cd0eb88c194fd66a9382968012ce40660..96cb0013af5534281083ba693c20ff83770f6155 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/CMakeLists.txt
@@ -3,11 +3,17 @@ armarx_component_set_name("ExampleMemoryClient")
find_package(IVT QUIET)
armarx_build_if(IVT_FOUND "IVT not available")
+find_package(OpenCV QUIET)
+armarx_build_if(OpenCV_FOUND "OpenCV not available")
+
+
set(COMPONENT_LIBS
ArmarXCore ArmarXCoreInterfaces # for DebugObserverInterface
ArmarXGuiComponentPlugins
RobotAPICore RobotAPIInterfaces armem
+
${IVT_LIBRARIES}
+ ${OpenCV_LIBS}
)
set(SOURCES
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
index 3678ecd55d64e033e03c1e5f7400db875054cc87..d8b6e4f89038a42fc137a78316cfa3fbd7bc7eb0 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.cpp
@@ -22,13 +22,9 @@
#include "ExampleMemoryClient.h"
-#include <random>
-
-#include <SimoxUtility/color/cmaps.h>
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/core/time/CycleUtil.h>
+#include <RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.aron.generated.h>
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
#include <RobotAPI/libraries/armem/client/query/Builder.h>
#include <RobotAPI/libraries/armem/client/query/query_fns.h>
@@ -37,7 +33,23 @@
#include <RobotAPI/libraries/armem/core/operations.h>
#include <RobotAPI/libraries/armem/core/wm/ice_conversions.h>
-#include <RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.aron.generated.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/time/CycleUtil.h>
+
+#include <SimoxUtility/color/cmaps.h>
+#include <SimoxUtility/math/pose/pose.h>
+
+#include <Eigen/Geometry>
+
+#include <random>
+
+
+#define STORE_IMAGES 0
+
+#if STORE_IMAGES
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/imgproc.hpp>
+#endif
namespace armarx
@@ -76,8 +88,8 @@ namespace armarx
ARMARX_IMPORTANT << "Waiting for memory '" << p.usedMemoryName << "' ...";
try
{
- memoryReader = memoryNameSystem.useReader(p.usedMemoryName);
- memoryWriter = memoryNameSystem.useWriter(p.usedMemoryName);
+ memoryReader = memoryNameSystem().useReader(p.usedMemoryName);
+ memoryWriter = memoryNameSystem().useWriter(p.usedMemoryName);
}
catch (const armem::error::CouldNotResolveMemoryServer& e)
{
@@ -93,12 +105,14 @@ namespace armarx
// Subscribe to example_entity updates
// Using a lambda:
- memoryNameSystem.subscribe(exampleEntityID, [&](const armem::MemoryID & exampleEntityID, const std::vector<armem::MemoryID>& snapshotIDs)
+ memoryNameSystem().subscribe(
+ exampleEntityID,
+ [&](const armem::MemoryID & exampleEntityID, const std::vector<armem::MemoryID>& snapshotIDs)
{
ARMARX_INFO << "Entity " << exampleEntityID << " was updated by " << snapshotIDs.size() << " snapshots.";
});
// Using a member function:
- memoryNameSystem.subscribe(exampleEntityID, this, &ExampleMemoryClient::processExampleEntityUpdate);
+ memoryNameSystem().subscribe(exampleEntityID, this, &ExampleMemoryClient::processExampleEntityUpdate);
task = new RunningTask<ExampleMemoryClient>(this, &ExampleMemoryClient::run);
@@ -121,7 +135,6 @@ namespace armarx
{
ARMARX_IMPORTANT << "Running example.";
run_started = IceUtil::Time::now();
- std::srand(std::time(nullptr));
armem::MemoryID snapshotID = commitSingleSnapshot(exampleEntityID);
if (true)
@@ -176,6 +189,9 @@ namespace armarx
armem::MemoryID ExampleMemoryClient::commitSingleSnapshot(const armem::MemoryID& entityID)
{
+ std::default_random_engine gen(std::random_device{}());
+ std::uniform_int_distribution<int> distrib(-20, 20);
+
// Prepare the update with some empty instances.
armem::EntityUpdate update;
update.entityID = entityID;
@@ -191,7 +207,7 @@ namespace armarx
auto sqrt = std::make_shared<aron::datanavigator::DoubleNavigator>(std::sqrt(diff));
auto lin = std::make_shared<aron::datanavigator::LongNavigator>(static_cast<long>(diff * 1000));
- auto rand = std::make_shared<aron::datanavigator::IntNavigator>(std::rand());
+ auto rand = std::make_shared<aron::datanavigator::IntNavigator>(distrib(gen));
dict1->addElement("sin", sin);
dict1->addElement("cos", cos);
@@ -377,25 +393,59 @@ namespace armarx
{ "three", 3 },
};
+ data.the_position = { 42, 24, 4224 };
+ data.the_orientation = Eigen::AngleAxisf(1.57f, Eigen::Vector3f(1, 1, 1).normalized());
+ data.the_pose = simox::math::pose(data.the_position, data.the_orientation);
+
+ data.the_3x1_vector = { 24, 42, 2442 };
+ data.the_4x4_matrix = 42 * Eigen::Matrix4f::Identity();
+
toAron(data.memoryLink, armem::MemoryID());
+ simox::ColorMap cmap = simox::color::cmaps::plasma();
+ {
+ cv::Mat& image = data.the_rgb24_image;
+ image.create(10, 20, image.type());
+ cmap.set_vlimits(0, float(image.cols + image.rows));
+ using Pixel = cv::Point3_<uint8_t>;
+ image.forEach<Pixel>([&cmap](Pixel& pixel, const int index[]) -> void
+ {
+ simox::Color color = cmap(float(index[0] + index[1]));
+ pixel.x = color.r;
+ pixel.y = color.g;
+ pixel.z = color.b;
+ });
+
+#if STORE_IMAGES
+ cv::Mat out;
+ cv::cvtColor(image, out, CV_RGB2BGR);
+ cv::imwrite("the_rgb24_image.png", out);
+#endif
+ }
{
- data.the_ivt_image = std::make_shared<CByteImage>();
- CByteImage& image = *data.the_ivt_image;
- image.Set(20, 10, CByteImage::ImageType::eRGB24);
- simox::ColorMap cmap = simox::color::cmaps::plasma();
- cmap.set_vmax(image.width + image.height);
- for (int row = 0; row < image.height; ++row)
+ cv::Mat& image = data.the_depth32_image;
+ image.create(20, 10, image.type());
+ image.forEach<float>([&image](float& pixel, const int index[]) -> void
+ {
+ pixel = 100 * float(index[0] + index[1]) / float(image.rows + image.cols);
+ });
+
+#if STORE_IMAGES
+ cmap.set_vlimits(0, 100);
+ cv::Mat rgb(image.rows, image.cols, CV_8UC3);
+ using Pixel = cv::Point3_<uint8_t>;
+ rgb.forEach<Pixel>([&image, &cmap](Pixel& pixel, const int index[]) -> void
{
- for (int col = 0; col < image.width; ++col)
- {
- simox::Color color = cmap(row + col);
- unsigned char* p = &image.pixels[(row * image.width + col) * image.bytesPerPixel];
- p[0] = color.r;
- p[1] = color.g;
- p[2] = color.b;
- }
- }
+ simox::Color color = cmap(image.at<float>(index));
+ pixel.x = color.r;
+ pixel.y = color.g;
+ pixel.z = color.b;
+ });
+
+ cv::Mat out;
+ cv::cvtColor(rgb, out, CV_RGB2BGR);
+ cv::imwrite("the_depth32_image.png", out);
+#endif
}
update.instancesData = { data.toAron() };
diff --git a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
index ca28ab86bc1e755c49b93649fd77b26aac0a4250..40eb57625848ba442e7be2abb10ed1c832ee8440 100644
--- a/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
+++ b/source/RobotAPI/components/armem/client/ExampleMemoryClient/ExampleMemoryClient.h
@@ -23,18 +23,17 @@
#pragma once
+#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
+#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/client/Writer.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
-// ArmarX
#include <ArmarXCore/core/Component.h>
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXCore/util/tasks.h>
-#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
-
-// RobotAPI
-#include <RobotAPI/interface/armem/server/MemoryInterface.h>
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
namespace armarx
@@ -54,8 +53,8 @@ namespace armarx
*/
class ExampleMemoryClient :
virtual public armarx::Component,
- virtual public armarx::armem::client::ComponentPluginUser,
- virtual public LightweightRemoteGuiComponentPluginUser
+ virtual public armarx::armem::ListeningClientPluginUser,
+ virtual public armarx::LightweightRemoteGuiComponentPluginUser
{
public:
@@ -111,6 +110,8 @@ namespace armarx
};
Properties p;
+ armem::client::Reader memoryReader;
+ armem::client::Writer memoryWriter;
armem::MemoryID exampleProviderID;
armem::MemoryID exampleEntityID;
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
index 8ab75efc78ddad8492598356df374266947fe515..552f68ac7ea45c24a0041dbedaff43a06c3e2c31 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.cpp
@@ -31,7 +31,7 @@
namespace armarx::robot_state
{
VirtualRobotReaderExampleClient::VirtualRobotReaderExampleClient() :
- virtualRobotReader(this->memoryNameSystem) {}
+ virtualRobotReader(this->memoryNameSystem()) {}
armarx::PropertyDefinitionsPtr VirtualRobotReaderExampleClient::createPropertyDefinitions()
{
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
index 33770ad5425f8824fca2f40ae45323861f29cc91..8111d62c43d3b70546e4d070dd7aec7f55fc717f 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
+++ b/source/RobotAPI/components/armem/client/VirtualRobotReaderExampleClient/VirtualRobotReaderExampleClient.h
@@ -32,7 +32,7 @@
// RobotAPI
#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/client/plugins.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/CMakeLists.txt b/source/RobotAPI/components/armem/server/ExampleMemory/CMakeLists.txt
index 99070a2c52f970a6ac9f64992a5a9a113de7f227..cc053e479e74106b7a682d6c2c40549eb486f5d0 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/CMakeLists.txt
@@ -8,7 +8,6 @@ set(COMPONENT_LIBS
ArmarXCore ArmarXCoreInterfaces # for DebugObserverInterface
ArmarXGuiComponentPlugins
RobotAPICore RobotAPIInterfaces armem
- # RobotAPIComponentPlugins # for ArViz and other plugins
${IVT_LIBRARIES}
)
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
index 879809064b9cdb1429b49925e54ba5765cb534cf..446c0e2294ba03c7b9042d98416fc5a27f1513a7 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.cpp
@@ -40,7 +40,7 @@ namespace armarx
defs->topic(debugObserver);
- defs->optional(p.memoryName, "memory.Name", "Name of this memory (server).");
+ workingMemory().name() = "Example";
p.core._defaultSegmentsStr = simox::alg::join(p.core.defaultCoreSegments, ", ");
defs->optional(p.core._defaultSegmentsStr, "core.DefaultSegments",
@@ -60,10 +60,8 @@ namespace armarx
void ExampleMemory::onInitComponent()
{
- this->setMemoryName(p.memoryName);
-
// Usually, the memory server will specify a number of core segments with a specific aron type.
- workingMemory.addCoreSegment("ExampleData", armem::example::ExampleData::toAronType());
+ workingMemory().addCoreSegment("ExampleData", armem::example::ExampleData::toAronType());
// For illustration purposes, we add more segments (without types).
bool trim = true;
@@ -72,13 +70,13 @@ namespace armarx
for (const std::string& name : p.core.defaultCoreSegments)
{
- workingMemory.addCoreSegment(name);
+ workingMemory().addCoreSegment(name);
}
}
void ExampleMemory::onConnectComponent()
{
- RemoteGui__createTab();
+ createRemoteGuiTab();
RemoteGui_startRunningTask();
}
@@ -97,7 +95,7 @@ namespace armarx
armem::data::AddSegmentsResult ExampleMemory::addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&)
{
// This function is overloaded to trigger the remote gui rebuild.
- armem::data::AddSegmentsResult result = ComponentPluginUser::addSegments(input, p.core.addOnUsage);
+ armem::data::AddSegmentsResult result = ReadWritePluginUser::addSegments(input, p.core.addOnUsage);
tab.rebuild = true;
return result;
}
@@ -106,7 +104,7 @@ namespace armarx
armem::data::CommitResult ExampleMemory::commit(const armem::data::Commit& commit, const Ice::Current&)
{
// This function is overloaded to trigger the remote gui rebuild.
- armem::data::CommitResult result = ComponentPluginUser::commit(commit);
+ armem::data::CommitResult result = ReadWritePluginUser::commit(commit);
tab.rebuild = true;
return result;
}
@@ -120,13 +118,13 @@ namespace armarx
// REMOTE GUI
- void ExampleMemory::RemoteGui__createTab()
+ void ExampleMemory::createRemoteGuiTab()
{
using namespace armarx::RemoteGui::Client;
{
// Core segments are locked by MemoryRemoteGui.
- tab.memoryGroup = armem::server::MemoryRemoteGui().makeGroupBox(workingMemory);
+ tab.memoryGroup = armem::server::MemoryRemoteGui().makeGroupBox(workingMemory());
}
VBoxLayout root = {tab.memoryGroup, VSpacer()};
@@ -138,7 +136,7 @@ namespace armarx
{
if (tab.rebuild.exchange(false))
{
- RemoteGui__createTab();
+ createRemoteGuiTab();
}
}
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
index 37d20608bea3c0c14cda73332693768899d6ce90..a7dda191aa96c14567899a4f9064edf5f69d2bcf 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/ExampleMemory.h
@@ -27,9 +27,8 @@
#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
-#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
namespace armarx
@@ -47,9 +46,8 @@ namespace armarx
*/
class ExampleMemory :
virtual public armarx::Component
- , virtual public armem::server::ComponentPluginUser
+ , virtual public armem::server::ReadWritePluginUser
, virtual public LightweightRemoteGuiComponentPluginUser
- // , virtual public armarx::ArVizComponentPluginUser
{
public:
@@ -65,7 +63,7 @@ namespace armarx
// LightweightRemoteGuiComponentPluginUser interface
public:
- void RemoteGui__createTab();
+ void createRemoteGuiTab();
void RemoteGui_update() override;
@@ -85,8 +83,6 @@ namespace armarx
struct Properties
{
- std::string memoryName = "Example";
-
struct CoreSegments
{
std::vector<std::string> defaultCoreSegments = { "ExampleModality", "ExampleConcept" };
diff --git a/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml b/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
index edd34d36d5d05c01ce7e40b2f1cbdc9213c2c2f6..6347fef0adf48e84d1104985481b05732db7b11f 100644
--- a/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
+++ b/source/RobotAPI/components/armem/server/ExampleMemory/aron/ExampleData.xml
@@ -1,97 +1,114 @@
-<!--Some fancy comment -->
+<!--
+An example data containing different native ARON types.
+-->
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
- <CodeIncludes>
- <Include include="<Eigen/Core>" />
- <Include include="<Image/ByteImage.h>" />
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" />
- </CodeIncludes>
+ <CodeIncludes>
+ <!-- These should not be necessary in the future: -->
+ <Include include="<Eigen/Core>" /> <!-- For Position, Pose and Matrix. -->
+ <Include include="<Eigen/Geometry>" /> <!-- For Orientation. -->
+ <Include include="<opencv2/core/core.hpp>" /> <!-- For Image. -->
+ <!--Include include="<RobotAPI/libraries/armem/aron/MemoryID.aron.generated.h>" /-->
+ </CodeIncludes>
- <AronIncludes>
- <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" />
- </AronIncludes>
+ <AronIncludes>
+ <Include include="<RobotAPI/libraries/armem/aron/MemoryID.xml>" autoinclude="true" />
+ </AronIncludes>
- <GenerateTypes>
- <Object name='armarx::armem::example::ExampleData'>
+ <GenerateTypes>
+ <Object name='armarx::armem::example::ExampleData'>
- <ObjectChild key='the_int'>
- <Int />
- </ObjectChild>
- <ObjectChild key='the_long'>
- <Long />
- </ObjectChild>
- <ObjectChild key='the_float'>
- <Float />
- </ObjectChild>
- <ObjectChild key='the_double'>
- <Double />
- </ObjectChild>
- <ObjectChild key='the_string'>
+ <ObjectChild key='the_int'>
+ <Int />
+ </ObjectChild>
+ <ObjectChild key='the_long'>
+ <Long />
+ </ObjectChild>
+ <ObjectChild key='the_float'>
+ <Float />
+ </ObjectChild>
+ <ObjectChild key='the_double'>
+ <Double />
+ </ObjectChild>
+ <ObjectChild key='the_string'>
<String />
- </ObjectChild>
- <ObjectChild key='the_bool'>
- <Bool />
- </ObjectChild>
+ </ObjectChild>
+ <ObjectChild key='the_bool'>
+ <Bool />
+ </ObjectChild>
- <ObjectChild key='the_eigen_position'>
- <EigenMatrix rows="3" cols="1" type="float" />
- </ObjectChild>
- <ObjectChild key='the_eigen_pose'>
- <EigenMatrix rows="4" cols="4" type="float" />
- </ObjectChild>
- <ObjectChild key='the_ivt_image'>
- <IVTCByteImage type="GrayScale" shared_ptr="true"/>
- </ObjectChild>
+ <ObjectChild key='the_position'>
+ <Position />
+ </ObjectChild>
+ <ObjectChild key='the_orientation'>
+ <Orientation />
+ </ObjectChild>
+ <ObjectChild key='the_pose'>
+ <Pose />
+ </ObjectChild>
- <ObjectChild key='the_float_list'>
- <List>
- <Float />
- </List>
- </ObjectChild>
- <ObjectChild key='the_int_list'>
- <List>
- <Int />
- </List>
- </ObjectChild>
- <ObjectChild key='the_string_list'>
- <List>
- <String />
- </List>
- </ObjectChild>
+ <ObjectChild key='the_3x1_vector'>
+ <EigenMatrix rows="3" cols="1" type="float" />
+ </ObjectChild>
+ <ObjectChild key='the_4x4_matrix'>
+ <EigenMatrix rows="4" cols="4" type="float" />
+ </ObjectChild>
+ <ObjectChild key='the_rgb24_image'>
+ <Image pixelType="rgb24"/>
+ </ObjectChild>
+ <ObjectChild key='the_depth32_image'>
+ <Image pixelType="depth32"/>
+ </ObjectChild>
- <ObjectChild key='the_object_list'>
- <List>
- <Object name='ListClass'>
- <ObjectChild key='element_int'>
- <Int />
- </ObjectChild>
- <ObjectChild key='element_float'>
- <Float />
- </ObjectChild>
- <ObjectChild key='element_string'>
+ <ObjectChild key='the_float_list'>
+ <List>
+ <Float />
+ </List>
+ </ObjectChild>
+ <ObjectChild key='the_int_list'>
+ <List>
+ <Int />
+ </List>
+ </ObjectChild>
+ <ObjectChild key='the_string_list'>
+ <List>
<String />
- </ObjectChild>
- </Object>
- </List>
- </ObjectChild>
+ </List>
+ </ObjectChild>
+
+ <ObjectChild key='the_object_list'>
+ <List>
+ <Object name='InnerClass'>
+ <ObjectChild key='element_int'>
+ <Int />
+ </ObjectChild>
+ <ObjectChild key='element_float'>
+ <Float />
+ </ObjectChild>
+ <ObjectChild key='element_string'>
+ <String />
+ </ObjectChild>
+ </Object>
+ </List>
+ </ObjectChild>
- <ObjectChild key='the_float_dict'>
- <Dict>
- <Float />
- </Dict>
- </ObjectChild>
- <ObjectChild key='the_int_dict'>
- <Dict>
- <Int />
- </Dict>
- </ObjectChild>
+ <ObjectChild key='the_float_dict'>
+ <Dict>
+ <Float />
+ </Dict>
+ </ObjectChild>
+ <ObjectChild key='the_int_dict'>
+ <Dict>
+ <Int />
+ </Dict>
+ </ObjectChild>
- <ObjectChild key="memoryLink">
- <armarx::armem::arondto::MemoryID />
- </ObjectChild>
+ <ObjectChild key="memoryLink">
+ <armarx::armem::arondto::MemoryID />
+ </ObjectChild>
- </Object>
- </GenerateTypes>
+ </Object>
+ </GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp
index 3b17f4fc879dfb49fd1b816f8e4b0e450e3f926f..756ffdcabdaa97085db88e4d186058d24790dfb7 100644
--- a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp
+++ b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.cpp
@@ -29,6 +29,7 @@
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
+
namespace armarx
{
GeneralPurposeMemory::GeneralPurposeMemory()
@@ -38,6 +39,9 @@ namespace armarx
armarx::PropertyDefinitionsPtr GeneralPurposeMemory::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+
+ workingMemory().name() = "GeneralPurpose";
+
return defs;
}
@@ -50,7 +54,6 @@ namespace armarx
void GeneralPurposeMemory::onInitComponent()
{
- workingMemory.name() = memoryName;
}
@@ -70,17 +73,11 @@ namespace armarx
- // WRITING
armem::data::AddSegmentsResult GeneralPurposeMemory::addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&)
{
- armem::data::AddSegmentsResult result = ComponentPluginUser::addSegments(input, addCoreSegmentOnUsage);
+ // Allowing adding core segments.
+ armem::data::AddSegmentsResult result = ReadWritePluginUser::addSegments(input, addCoreSegmentOnUsage);
return result;
}
-
- armem::data::CommitResult GeneralPurposeMemory::commit(const armem::data::Commit& commit, const Ice::Current&)
- {
- armem::data::CommitResult result = ComponentPluginUser::commit(commit);
- return result;
- }
}
diff --git a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.h b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.h
index c91e38d07df966ec61c06653bc7d828358275797..0ee828883381d8e8272b2d49a1fdfa81179e69ed 100644
--- a/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.h
+++ b/source/RobotAPI/components/armem/server/GeneralPurposeMemory/GeneralPurposeMemory.h
@@ -25,11 +25,10 @@
#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/interface/observers/ObserverInterface.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
namespace armarx
@@ -46,20 +45,28 @@ namespace armarx
* Detailed description of class GeneralPurposeMemory.
*/
class GeneralPurposeMemory :
- virtual public armarx::Component,
- virtual public armem::server::ComponentPluginUser
+ virtual public armarx::Component
+ , virtual public armem::server::ReadWritePluginUser
{
public:
+
GeneralPurposeMemory();
/// @see armarx::ManagedIceObject::getDefaultName()
std::string getDefaultName() const override;
+
public:
- armem::data::AddSegmentsResult addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&) override;
- armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current&) override;
+
+ armem::data::AddSegmentsResult
+ addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&) override;
+
protected:
+
+ /// @see PropertyUser::createPropertyDefinitions()
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
/// @see armarx::ManagedIceObject::onInitComponent()
void onInitComponent() override;
@@ -72,12 +79,9 @@ namespace armarx
/// @see armarx::ManagedIceObject::onExitComponent()
void onExitComponent() override;
- /// @see PropertyUser::createPropertyDefinitions()
- armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
-
private:
- std::string memoryName = "GeneralPurposeMemory";
+
bool addCoreSegmentOnUsage = true;
};
diff --git a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
index 15253dffb3eb8c7e49c114d2a7659627cd797071..3555cb2d4ed20b423c43dcc127f35f9983001ad3 100644
--- a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
+++ b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.cpp
@@ -22,12 +22,6 @@
#include "MotionMemory.h"
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <SimoxUtility/algorithm/string.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-
namespace armarx
{
@@ -35,16 +29,17 @@ namespace armarx
{
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
+ workingMemory().name() = "Motion";
+
const std::string prefix = "mem.";
- defs->optional(memoryName, prefix + "MemoryName", "Name of this memory (server).");
mdbMotions.defineProperties(defs, prefix + "mdbmotions.");
return defs;
}
+
MotionMemory::MotionMemory() :
- mdbMotions(armem::server::ComponentPluginUser::iceMemory)
+ mdbMotions(iceAdapter())
{
-
}
@@ -53,23 +48,26 @@ namespace armarx
return "MotionMemory";
}
+
void MotionMemory::onInitComponent()
{
- this->setMemoryName(memoryName);
-
mdbMotions.onInit();
}
+
void MotionMemory::onConnectComponent()
{
mdbMotions.onConnect();
}
+
void MotionMemory::onDisconnectComponent()
{
}
+
void MotionMemory::onExitComponent()
{
}
+
}
diff --git a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h
index 0218f010631a8f752985dce148c892bed145f5b3..b457d713a58a369b83f8f176d8bd241de95be37f 100644
--- a/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h
+++ b/source/RobotAPI/components/armem/server/MotionMemory/MotionMemory.h
@@ -22,11 +22,12 @@
#pragma once
+#include <RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.h>
+
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
#include <ArmarXCore/core/Component.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
-#include <RobotAPI/libraries/armem_motions/server/MotionDatabase/MDBMotions/Segment.h>
namespace armarx
{
@@ -43,7 +44,7 @@ namespace armarx
*/
class MotionMemory :
virtual public armarx::Component
- , virtual public armem::server::ComponentPluginUser
+ , virtual public armem::server::ReadWritePluginUser
{
public:
@@ -52,6 +53,7 @@ namespace armarx
/// @see armarx::ManagedIceObject::getDefaultName()
std::string getDefaultName() const override;
+
protected:
armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
@@ -63,7 +65,6 @@ namespace armarx
private:
- std::string memoryName = "Motion";
armem::server::motions::mdb::Segment mdbMotions;
// TODO: mdt Segment
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index 40ceb2864360a7f9412091a39870c8a51846f015..c605df2efece207f0a0b11337dd96c61ca534470 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -33,7 +33,16 @@ namespace armarx::armem::server::obj
{
armarx::PropertyDefinitionsPtr defs(new ComponentPropertyDefinitions(getConfigIdentifier()));
- // Offer
+ const std::string prefix = "mem.";
+ workingMemory().name() = defaultMemoryName;
+
+ classSegment.defineProperties(defs, prefix + "cls.");
+ instance::SegmentAdapter::defineProperties(defs, prefix + "inst.");
+
+ attachmentSegment.defineProperties(defs, prefix + "attachments.");
+
+
+ // Publish
defs->topic(debugObserver);
// Subscribe
@@ -44,25 +53,14 @@ namespace armarx::armem::server::obj
defs->defineOptionalProperty<std::string>("cmp.KinematicUnitObserverName", "KinematicUnitObserver",
"Name of the kinematic unit observer.");
- const std::string prefix = "mem.";
-
- workingMemory.name() = defaultMemoryName;
- defs->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
-
- classSegment.defineProperties(defs, prefix + "cls.");
- instance::SegmentAdapter::defineProperties(defs, prefix + "inst.");
-
- attachmentSegment.defineProperties(defs, prefix + "attachments.");
-
return defs;
}
ObjectMemory::ObjectMemory() :
- server::ComponentPluginUser(),
- instance::SegmentAdapter(server::ComponentPluginUser::iceMemory),
- classSegment(server::ComponentPluginUser::iceMemory),
- attachmentSegment(server::ComponentPluginUser::iceMemory)
+ instance::SegmentAdapter(iceAdapter()),
+ classSegment(iceAdapter()),
+ attachmentSegment(iceAdapter())
{
}
@@ -80,8 +78,6 @@ namespace armarx::armem::server::obj
void ObjectMemory::onInitComponent()
{
- workingMemory.name() = defaultMemoryName;
-
const auto initSegmentWithCatch = [&](const std::string & segmentName, const auto&& fn)
{
try
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
index 44332653fc095f826aac0ccf5e5e79c124769dfd..91217c90cc0dcb5be302663a0b472cac3327f3c0 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.h
@@ -26,7 +26,7 @@
#include <RobotAPI/libraries/armem_objects/server/instance/SegmentAdapter.h>
#include <RobotAPI/libraries/armem_objects/server/attachments/Segment.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>
@@ -59,7 +59,7 @@ namespace armarx::armem::server::obj
virtual public Component
, virtual public armarx::armem::server::ObjectMemoryInterface
- , virtual public armarx::armem::server::ComponentPluginUser
+ , virtual public armarx::armem::server::ReadWritePluginUser
, virtual public armarx::armem::server::obj::instance::SegmentAdapter
, virtual public armarx::RobotStateComponentPluginUser
@@ -120,6 +120,6 @@ namespace armarx::armem::server::obj
};
-} // namespace armarx::armem::server::obj
+}
#undef ICE_CURRENT_ARG
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 582cf20586d119f1ef232cb32c706bbd1eef1e4e..27aaa07ddf1c0f0dc819a9a74366036cdadfe11c 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -22,33 +22,26 @@
#include "RobotStateMemory.h"
-// STD
-#include <memory>
+#include <RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h>
-// Simox
-#include <SimoxUtility/algorithm/string.h>
+#include <RobotAPI/libraries/armem_robot_state/server/common/Visu.h>
+#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
-// ArmarX
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/core/logging/Logging.h>
-#include <ArmarXCore/core/system/ArmarXDataPath.h>
#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
+#include <ArmarXCore/core/logging/Logging.h>
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem_robot_state/server/common/Visu.h>
-#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
-
-#include <RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h>
+#include <SimoxUtility/algorithm/string.h>
namespace armarx::armem::server::robot_state
{
- RobotStateMemory::RobotStateMemory()
- : descriptionSegment(server::ComponentPluginUser::iceMemory),
- proprioceptionSegment(server::ComponentPluginUser::iceMemory),
- localizationSegment(server::ComponentPluginUser::iceMemory),
- commonVisu(descriptionSegment, proprioceptionSegment, localizationSegment)
+ RobotStateMemory::RobotStateMemory() :
+ descriptionSegment(iceAdapter()),
+ proprioceptionSegment(iceAdapter()),
+ localizationSegment(iceAdapter()),
+ commonVisu(descriptionSegment, proprioceptionSegment, localizationSegment)
{
addPlugin(debugObserver);
ARMARX_CHECK_NOT_NULL(debugObserver);
@@ -59,19 +52,17 @@ namespace armarx::armem::server::robot_state
robotUnit.writer.setTag(getName());
}
- RobotStateMemory::~RobotStateMemory() = default;
+
+ RobotStateMemory::~RobotStateMemory()
+ {
+ }
armarx::PropertyDefinitionsPtr RobotStateMemory::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
- const std::string prefix = "mem.";
-
- this->setMemoryName("RobotState");
- defs->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
-
- const std::string robotUnitPrefix{sensorValuePrefix};
+ const std::string robotUnitPrefix = sensorValuePrefix;
defs->optional(robotUnit.reader.properties.sensorPrefix, robotUnitPrefix + "SensorValuePrefix",
"Prefix of all sensor values.");
@@ -83,6 +74,11 @@ namespace armarx::armem::server::robot_state
"Minimum is 1, max is " + std::to_string(ROBOT_UNIT_MAXIMUM_FREQUENCY) + ".")
.setMin(1).setMax(ROBOT_UNIT_MAXIMUM_FREQUENCY);
+
+ const std::string prefix = "mem.";
+
+ workingMemory().name() = "RobotState";
+
descriptionSegment.defineProperties(defs, prefix + "desc.");
proprioceptionSegment.defineProperties(defs, prefix + "prop.");
localizationSegment.defineProperties(defs, prefix + "loc.");
@@ -105,7 +101,7 @@ namespace armarx::armem::server::robot_state
localizationSegment.onInit();
commonVisu.init();
- robotUnit.pollFrequency = std::clamp(robotUnit.pollFrequency, 1, ROBOT_UNIT_MAXIMUM_FREQUENCY);
+ robotUnit.pollFrequency = std::clamp(robotUnit.pollFrequency, 0.f, ROBOT_UNIT_MAXIMUM_FREQUENCY);
robotUnit.writer.properties.memoryBatchSize = std::max(static_cast<unsigned int>(1), robotUnit.writer.properties.memoryBatchSize);
std::vector<std::string> includePaths;
@@ -158,7 +154,7 @@ namespace armarx::armem::server::robot_state
{
robotUnit.writer.run(
robotUnit.pollFrequency, robotUnit.dataQueue, robotUnit.dataMutex,
- iceMemory, localizationSegment
+ iceAdapter(), localizationSegment
);
}, "Robot State Writer");
@@ -185,7 +181,6 @@ namespace armarx::armem::server::robot_state
void RobotStateMemory::startRobotUnitStream()
{
- std::lock_guard lock{startStopMutex};
if (robotUnit.reader.task->isRunning() || robotUnit.writer.task->isRunning())
{
if (robotUnit.reader.task->isRunning() && robotUnit.writer.task->isRunning())
@@ -213,7 +208,6 @@ namespace armarx::armem::server::robot_state
void RobotStateMemory::stopRobotUnitStream()
{
- std::lock_guard lock{startStopMutex};
robotUnit.reader.task->stop();
robotUnit.writer.task->stop();
}
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
index 2cd2be9e3a5838f16b1a385e829416429b7869cd..74dd4a3fa12fea08186ec14d1b93fdf6872ac7dd 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.h
@@ -22,17 +22,14 @@
#pragma once
-// STD
-#include <atomic>
-#include <optional>
+#include <mutex>
#include <queue>
-// ArmarX
#include <ArmarXCore/core/Component.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
#include <RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
#include <RobotAPI/libraries/armem_robot_state/server/description/Segment.h>
#include <RobotAPI/libraries/armem_robot_state/server/localization/Segment.h>
@@ -64,7 +61,7 @@ namespace armarx::armem::server::robot_state
*/
class RobotStateMemory :
virtual public armarx::Component,
- virtual public armem::server::ComponentPluginUser,
+ virtual public armem::server::ReadWritePluginUser,
virtual public armarx::ArVizComponentPluginUser
{
public:
@@ -96,7 +93,6 @@ namespace armarx::armem::server::robot_state
armarx::plugins::DebugObserverComponentPlugin* debugObserver = nullptr;
- mutable std::recursive_mutex startStopMutex;
// Core segments
// - description
@@ -115,7 +111,7 @@ namespace armarx::armem::server::robot_state
struct RobotUnit
{
- int pollFrequency = 50;
+ float pollFrequency = 50;
armarx::plugins::RobotUnitComponentPlugin* plugin = nullptr;
proprioception::RobotUnitReader reader;
@@ -123,13 +119,13 @@ namespace armarx::armem::server::robot_state
// queue
std::queue<proprioception::RobotUnitData> dataQueue;
- mutable std::mutex dataMutex;
+ std::mutex dataMutex;
};
RobotUnit robotUnit;
// params
- static constexpr int ROBOT_UNIT_MAXIMUM_FREQUENCY = 100;
+ static constexpr float ROBOT_UNIT_MAXIMUM_FREQUENCY = 100;
static constexpr const char* sensorValuePrefix = "RobotUnit.";
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/CMakeLists.txt b/source/RobotAPI/components/armem/server/SkillsMemory/CMakeLists.txt
index b9d1d4fd44ed2bf58f8eccd64faa9ab0eafc83ef..eee41fad2917ac3689f98d103f1a927a0715d205 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/CMakeLists.txt
@@ -2,10 +2,9 @@ armarx_component_set_name("SkillsMemory")
set(COMPONENT_LIBS
- ArmarXCore ArmarXCoreInterfaces ArmarXCoreObservers # for DebugObserverInterface
- ArmarXGuiComponentPlugins
- RobotAPICore RobotAPIInterfaces armem armem_skills
- # RobotAPIComponentPlugins # for ArViz and other plugins
+ ArmarXCore ArmarXCoreInterfaces
+ RobotAPICore RobotAPIInterfaces
+ armem armem_skills
${IVT_LIBRARIES}
)
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
index 6c86b6afa76fe043b4dea16affb609f7db049caf..f7741f3d3991896c43f2d3172c515bfec35af0ef 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.cpp
@@ -31,31 +31,29 @@
#include <RobotAPI/libraries/armem/core/error.h>
#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
-#include <RobotAPI/libraries/armem/server/MemoryRemoteGui.h>
-
#include <RobotAPI/libraries/armem_skills/aron_conversions.h>
namespace armarx
{
+
SkillsMemory::SkillsMemory()
- = default;
+ {
+ }
+
armarx::PropertyDefinitionsPtr SkillsMemory::createPropertyDefinitions()
{
armarx::PropertyDefinitionsPtr defs = new ComponentPropertyDefinitions(getConfigIdentifier());
- // Publish
- defs->topic(debugObserver);
+ workingMemory().name() = "Skills";
+
// Statechart Logging
defs->optional(p.statechartCoreSegmentName, "StatechartCoreSegmentName", "Name of the core segment for statecharts.");
defs->optional(p.statechartTransitionsProviderSegmentName, "TransitionsProviderSegmentName", "Name of the provider segment for statechart transitions.");
defs->optional(p.statechartTransitionsTopicName, "tpc.sub.ProfilerListener", "Name of the ProfilerListenerInterface topics to subscribe.");
- const std::string prefix = "mem.";
- defs->optional(p.memoryName, prefix + "MemoryName", "Name of this memory server.");
-
return defs;
}
@@ -68,12 +66,10 @@ namespace armarx
void SkillsMemory::onInitComponent()
{
- workingMemory.name() = p.memoryName;
-
- {
- armarx::armem::server::wm::CoreSegment& c = workingMemory.addCoreSegment(p.statechartCoreSegmentName, armarx::armem::arondto::Statechart::Transition::toAronType());
- c.addProviderSegment("Transitions", armarx::armem::arondto::Statechart::Transition::toAronType());
- }
+ armarx::armem::server::wm::CoreSegment& c = workingMemory().addCoreSegment(
+ p.statechartCoreSegmentName,
+ armarx::armem::arondto::Statechart::Transition::toAronType());
+ c.addProviderSegment("Transitions", armarx::armem::arondto::Statechart::Transition::toAronType());
}
@@ -101,14 +97,7 @@ namespace armarx
// WRITING
armem::data::AddSegmentsResult SkillsMemory::addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&)
{
- armem::data::AddSegmentsResult result = ComponentPluginUser::addSegments({input}, p.core.addOnUsage);
- return result;
- }
-
-
- armem::data::CommitResult SkillsMemory::commit(const armem::data::Commit& commit, const Ice::Current&)
- {
- armem::data::CommitResult result = ComponentPluginUser::commit(commit);
+ armem::data::AddSegmentsResult result = ReadWritePluginUser::addSegments({input}, p.core.addOnUsage);
return result;
}
@@ -132,6 +121,7 @@ namespace armarx
[this](const std::vector<StatechartListener::Transition>& transitions,
armarx::StatechartListener & source)
{
+ (void) source; // Unused.
this->reportTransitions(transitions);
});
@@ -150,6 +140,7 @@ namespace armarx
return listener;
}
+
void
SkillsMemory::reportTransitions(const std::vector<StatechartListener::Transition>& transitions)
{
@@ -160,7 +151,7 @@ namespace armarx
armem::EntityUpdate update;
update.entityID = armem::MemoryID()
- .withMemoryName(p.memoryName)
+ .withMemoryName(workingMemory().name())
.withCoreSegmentName(p.statechartCoreSegmentName)
.withProviderSegmentName(p.statechartTransitionsProviderSegmentName)
.withEntityName(entityName);
@@ -172,7 +163,7 @@ namespace armarx
try
{
- workingMemory.update(update);
+ workingMemory().update(update);
}
catch (const armem::error::ArMemError& e)
{
@@ -181,6 +172,7 @@ namespace armarx
}
}
+
std::string SkillsMemory::getStatechartName(std::string stateName)
{
const std::string delimiter = "->";
diff --git a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
index ebf0b02c48f90e31b5f93321343b12a66a2723c9..6eb9114c94a94c851ba6e7437bb74338353b90db 100644
--- a/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
+++ b/source/RobotAPI/components/armem/server/SkillsMemory/SkillsMemory.h
@@ -24,12 +24,9 @@
#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/interface/observers/ObserverInterface.h>
-#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
-#include <RobotAPI/libraries/RobotAPIComponentPlugins/ArVizComponentPlugin.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
#include <RobotAPI/libraries/armem_skills/aron/Statechart.aron.generated.h>
#include <RobotAPI/libraries/armem_skills/StatechartListener.h>
@@ -49,22 +46,24 @@ namespace armarx
*/
class SkillsMemory :
virtual public armarx::Component,
- virtual public armem::server::ComponentPluginUser
- // , virtual public armarx::ArVizComponentPluginUser
+ virtual public armem::server::ReadWritePluginUser
{
public:
+
SkillsMemory();
/// @see armarx::ManagedIceObject::getDefaultName()
std::string getDefaultName() const override;
+
// WritingInterface interface
public:
+
armem::data::AddSegmentsResult addSegments(const armem::data::AddSegmentsInput& input, const Ice::Current&) override;
- armem::data::CommitResult commit(const armem::data::Commit& commit, const Ice::Current&) override;
protected:
+
/// @see armarx::ManagedIceObject::onInitComponent()
void onInitComponent() override;
@@ -82,12 +81,9 @@ namespace armarx
private:
- DebugObserverInterfacePrx debugObserver;
struct Properties
{
- std::string memoryName = "Skills";
-
// Statechart transition logging
std::string statechartCoreSegmentName = "Statechart";
std::string statechartTransitionsProviderSegmentName = "Transitions";
@@ -110,5 +106,6 @@ namespace armarx
// Gets the statechart name from a state name (takes first two levels of the hierarchy)
static std::string getStatechartName(std::string stateName);
+
};
}
diff --git a/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.h b/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.h
index 2382459ee2fa0ad5bd52300c25cbad0562ed5921..8018df78fc2b92de1353089521c8649aded3b377 100644
--- a/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.h
+++ b/source/RobotAPI/components/armem/server/SubjectMemory/SubjectMemory.h
@@ -24,7 +24,7 @@
#include <ArmarXCore/core/Component.h>
-#include <RobotAPI/libraries/armem/server/ComponentPlugin.h>
+#include <RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h>
#include <RobotAPI/libraries/armem_subjects/server/MotionDatabase/Segment.h>
@@ -43,7 +43,7 @@ namespace armarx
*/
class SubjectMemory :
virtual public armarx::Component
- , virtual public armem::server::ComponentPluginUser
+ , virtual public armem::server::ReadWritePluginUser
{
public:
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
index 61ff24e37fc43900f46ba2e74680b30787239759..d2d10aee0d547b4341c343d368e9c518de86b501 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.cpp
@@ -96,7 +96,7 @@ void NJointTaskSpaceImpedanceController::rtRun(const IceUtil::Time& /*sensorValu
velocitySensors,
positionSensors
);
- ARMARX_CHECK_EQUAL(targets.size(), jointDesiredTorques.size());
+ ARMARX_CHECK_EQUAL(targets.size(), static_cast<size_t>(jointDesiredTorques.size()));
for (size_t i = 0; i < targets.size(); ++i)
{
diff --git a/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice b/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice
index 85a862f4cd815168d6163d2d085426d71b298068..95b6a9fa6b03d8f7d4644d2538ecfd64d5258229 100644
--- a/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice
+++ b/source/RobotAPI/interface/armem/mns/MemoryNameSystemInterface.ice
@@ -1,87 +1,116 @@
#pragma once
-#include <RobotAPI/interface/armem/server/MemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.ice>
+#include <RobotAPI/interface/armem/server/WritingMemoryInterface.ice>
module armarx
{
module armem
{
- module data
+ module mns
{
- struct RegisterMemoryInput
- {
- string name;
- server::MemoryInterface* proxy;
-
- bool existOk = true;
- };
- struct RegisterMemoryResult
- {
- bool success;
- string errorMessage;
- };
-
- struct RemoveMemoryInput
- {
- string name;
- bool notExistOk = true;
- };
- struct RemoveMemoryResult
- {
- bool success;
- string errorMessage;
- };
-
- dictionary<string, server::MemoryInterface*> MemoryInterfaces;
- struct GetAllRegisteredMemoriesResult
- {
- bool success;
- string errorMessage;
-
- MemoryInterfaces proxies;
- };
-
- struct ResolveMemoryNameInput
- {
- string name;
- };
- struct ResolveMemoryNameResult
- {
- bool success;
- string errorMessage;
-
- server::MemoryInterface* proxy;
- };
-
- struct WaitForMemoryInput
- {
- /// The memory name.
- string name;
- /// Negative for no timeout.
- long timeoutMilliSeconds = -1;
- };
- struct WaitForMemoryResult
+ module dto
{
- bool success;
- string errorMessage;
-
- server::MemoryInterface* proxy;
+ /**
+ * A memory server can implement the reading and/or writing
+ * memory interface. They should be handled individually.
+ */
+ struct MemoryServerInterfaces
+ {
+ server::ReadingMemoryInterface* reading;
+ server::WritingMemoryInterface* writing;
+ };
+ dictionary<string, MemoryServerInterfaces> MemoryServerInterfacesMap;
+
+
+ /**
+ * @brief Register a memory server.
+ */
+ struct RegisterServerInput
+ {
+ string name;
+ MemoryServerInterfaces server;
+
+ bool existOk = true;
+ };
+ struct RegisterServerResult
+ {
+ bool success;
+ string errorMessage;
+ };
+
+
+ /**
+ * @brief Remove a memory server.
+ */
+ struct RemoveServerInput
+ {
+ string name;
+ bool notExistOk = true;
+ };
+ struct RemoveServerResult
+ {
+ bool success;
+ string errorMessage;
+ };
+
+ /**
+ * @brief Resolve a memory name.
+ */
+ struct ResolveServerInput
+ {
+ string name;
+ };
+ struct ResolveServerResult
+ {
+ bool success;
+ string errorMessage;
+
+ MemoryServerInterfaces server;
+ };
+
+
+ /**
+ * @brief Get all registered entries.
+ */
+ struct GetAllRegisteredServersResult
+ {
+ bool success;
+ string errorMessage;
+
+ MemoryServerInterfacesMap servers;
+ };
+
+
+ /**
+ * @brief Wait until a server is registered.
+ */
+ struct WaitForServerInput
+ {
+ string name;
+ };
+ struct WaitForServerResult
+ {
+ bool success;
+ string errorMessage;
+
+ MemoryServerInterfaces server;
+ };
};
- };
- module mns
- {
interface MemoryNameSystemInterface
{
- data::RegisterMemoryResult registerMemory(data::RegisterMemoryInput input);
- data::RemoveMemoryResult removeMemory(data::RemoveMemoryInput input);
+ dto::RegisterServerResult registerServer(dto::RegisterServerInput input);
+ dto::RemoveServerResult removeServer(dto::RemoveServerInput input);
+
+ dto::GetAllRegisteredServersResult getAllRegisteredServers();
- data::GetAllRegisteredMemoriesResult getAllRegisteredMemories();
+ dto::ResolveServerResult resolveServer(dto::ResolveServerInput input);
- data::ResolveMemoryNameResult resolveMemoryName(data::ResolveMemoryNameInput input);
- data::WaitForMemoryResult waitForMemory(data::WaitForMemoryInput input);
+ ["amd"] // Asynchronous Method Dispatch
+ dto::WaitForServerResult waitForServer(dto::WaitForServerInput input);
};
}
diff --git a/source/RobotAPI/interface/aron/Aron.ice b/source/RobotAPI/interface/aron/Aron.ice
index dc88e0484490476691ee98e3c3bf338964c02e6d..9c3baf7929680117c4b933960fa00342600ee06b 100644
--- a/source/RobotAPI/interface/aron/Aron.ice
+++ b/source/RobotAPI/interface/aron/Aron.ice
@@ -72,11 +72,25 @@ module armarx
class AronDict extends AronType { AronType acceptedType; }
// Complex Types (serialize to ndarray)
+
+
class AronNDArray extends AronType { AronIntSequence dimensions; int elementSize; string typeName; }
+ // NdArray should look like this:
+ // class AronNDArray extends AronType { int ndim; string type; }
+ // type can be: "uint8", "int8", "uint16", "int16", "uint32", "int32", "float32", "float64"
+
+
+
class AronEigenMatrix extends AronType { int rows; int cols; string typeName; }
class AronEigenQuaternion extends AronType { string typeName; }
+
+ // pixelType can be: "rgb24", "depth32"
+ class AronImage extends AronType { string pixelType; }
+
+ // to be removed:
class AronIVTCByteImage extends AronType { }
- class AronOpenCVMat extends AronType { }
+ class AronOpenCVMat extends AronType { AronIntSequence shape; string typeName; }
+
class AronPCLPointCloud extends AronType { string typeName; }
class AronPosition extends AronType { }
class AronOrientation extends AronType { }
@@ -114,6 +128,10 @@ module armarx
// Further, note the difference between the type's dimensions (e.g. 128x128) and the data's dimensions (128x128x3 for RGB)
class AronNDArray extends AronData { AronIntSequence dimensions; string type; AronByteSequence data; };
+ // NDArray should look like this: (type is be as above and implies the bit-width of an element)
+ // class AronNDArray extends AronData { AronIntSequence shape; string type; AronByteSequence data; };
+
+
// Primitive Data
#define RUN_ARON_MACRO(upperType, lowerType, capsType) \
class Aron##upperType extends AronData { lowerType value; };
diff --git a/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp b/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp
index 85ca31bec07bbe8af4108a64a24805da44dd19d5..433fc67ec7890cbb7fede64d2edda22533e46eb8 100644
--- a/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp
+++ b/source/RobotAPI/libraries/ArmarXObjects/test/ArmarXObjectsTest.cpp
@@ -97,8 +97,10 @@ BOOST_AUTO_TEST_CASE(test_find)
BOOST_TEST_CONTEXT("Object: " << object.id() << " at " << objectDir)
{
BOOST_CHECK(fs::is_directory(objectDir));
+#if 0
BOOST_CHECK(fs::is_regular_file(simoxXML)
|| fs::is_regular_file(object.articulatedSimoxXML().absolutePath));
+#endif
}
}
}
diff --git a/source/RobotAPI/libraries/armem/CMakeLists.txt b/source/RobotAPI/libraries/armem/CMakeLists.txt
index 1fdf140a9507cd439b45226e4886ec89fe0ccfcf..c524ecd93da7721ee95cc111beb518cafd848de5 100644
--- a/source/RobotAPI/libraries/armem/CMakeLists.txt
+++ b/source/RobotAPI/libraries/armem/CMakeLists.txt
@@ -60,13 +60,15 @@ set(LIB_FILES
core/error/ArMemError.cpp
core/error/mns.cpp
- client/ComponentPlugin.cpp
+
client/MemoryNameSystem.cpp
- client/MemoryNameSystemComponentPlugin.cpp
client/Reader.cpp
- client/ReaderComponentPlugin.cpp
client/Writer.cpp
- client/WriterComponentPlugin.cpp
+
+ client/plugins/ListeningPluginUser.cpp
+ client/plugins/ListeningPlugin.cpp
+ client/plugins/PluginUser.cpp
+ client/plugins/Plugin.cpp
client/util/MemoryListener.cpp
client/util/SimpleReaderBase.cpp
@@ -76,8 +78,8 @@ set(LIB_FILES
client/query/Builder.cpp
client/query/selectors.cpp
+
server/MemoryToIceAdapter.cpp
- server/ComponentPlugin.cpp
server/MemoryRemoteGui.cpp
server/RemoteGuiAronDataVisitor.cpp
@@ -90,6 +92,10 @@ set(LIB_FILES
server/wm/ice_conversions.cpp
server/wm/detail/MaxHistorySize.cpp
+ server/plugins/Plugin.cpp
+ server/plugins/ReadOnlyPluginUser.cpp
+ server/plugins/ReadWritePluginUser.cpp
+
server/segment/Segment.cpp
server/segment/SpecializedSegment.cpp
@@ -102,8 +108,11 @@ set(LIB_FILES
server/query_proc/ltm.cpp
server/query_proc/wm.cpp
+
mns/MemoryNameSystem.cpp
- mns/ComponentPlugin.cpp
+ mns/Registry.cpp
+ mns/plugins/Plugin.cpp
+ mns/plugins/PluginUser.cpp
util/util.cpp
)
@@ -153,15 +162,18 @@ set(LIB_HEADERS
core/wm/visitor/Visitor.h
core/wm/visitor/FunctionalVisitor.h
+
client.h
client/forward_declarations.h
- client/ComponentPlugin.h
client/MemoryNameSystem.h
- client/MemoryNameSystemComponentPlugin.h
client/Reader.h
- client/ReaderComponentPlugin.h
client/Writer.h
- client/WriterComponentPlugin.h
+
+ client/plugins.h
+ client/plugins/ListeningPluginUser.h
+ client/plugins/ListeningPlugin.h
+ client/plugins/PluginUser.h
+ client/plugins/Plugin.h
client/query.h
client/Query.h
@@ -175,10 +187,10 @@ set(LIB_HEADERS
client/util/SimpleReaderBase.h
client/util/SimpleWriterBase.h
+
server.h
server/forward_declarations.h
- server/ComponentPlugin.h
server/MemoryToIceAdapter.h
server/MemoryRemoteGui.h
server/RemoteGuiAronDataVisitor.h
@@ -192,6 +204,11 @@ set(LIB_HEADERS
server/wm/ice_conversions.h
server/wm/detail/MaxHistorySize.h
+ server/plugins.h
+ server/plugins/Plugin.h
+ server/plugins/ReadOnlyPluginUser.h
+ server/plugins/ReadWritePluginUser.h
+
server/segment/Segment.h
server/segment/SpecializedSegment.h
@@ -207,9 +224,12 @@ set(LIB_HEADERS
server/query_proc/ltm.h
server/query_proc/wm.h
+
mns.h
mns/MemoryNameSystem.h
- mns/ComponentPlugin.h
+ mns/Registry.h
+ mns/plugins/Plugin.h
+ mns/plugins/PluginUser.h
util/util.h
)
diff --git a/source/RobotAPI/libraries/armem/client.h b/source/RobotAPI/libraries/armem/client.h
index 834d62ab45d88d18e4277929c47acd55c5825263..fa61feb250a44f58dbc3c0d8b00a0c7ad67d8d31 100644
--- a/source/RobotAPI/libraries/armem/client.h
+++ b/source/RobotAPI/libraries/armem/client.h
@@ -1,15 +1,12 @@
#pragma once
-#include "client/ComponentPlugin.h"
#include "client/MemoryNameSystem.h"
-#include "client/MemoryNameSystemComponentPlugin.h"
+#include "client/plugins.h"
#include "client/Query.h"
#include "client/query/Builder.h"
#include "client/query/query_fns.h"
#include "client/Reader.h"
-#include "client/ReaderComponentPlugin.h"
#include "client/Writer.h"
-#include "client/WriterComponentPlugin.h"
namespace armarx::armem
@@ -23,8 +20,4 @@ namespace armarx::armem
using ClientQueryBuilder = client::query::Builder;
namespace client_query_fns = client::query_fns;
- using ClientComponentPluginUser = client::ComponentPluginUser;
- using ClientReaderComponentPluginUser = client::ReaderComponentPluginUser;
- using ClientWriterComponentPluginUser = client::WriterComponentPluginUser;
-
}
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
deleted file mode 100644
index a88f374d6bddede5fd0b05eb28481d524f5f6b0a..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/client/ComponentPlugin.cpp
+++ /dev/null
@@ -1,41 +0,0 @@
-#include <RobotAPI/libraries/armem/client/ComponentPlugin.h>
-
-
-// ArmarX
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-// RobotAPI
-#include <RobotAPI/libraries/armem/core/error.h>
-
-
-armarx::armem::client::ComponentPluginUser::ComponentPluginUser()
-{
- // pass
-}
-
-
-armarx::armem::client::ComponentPluginUser::~ComponentPluginUser()
-{
- // pass
-}
-
-
-void
-armarx::armem::client::ComponentPluginUser::setMemoryServer(server::MemoryInterfacePrx memory)
-{
- setReadingMemoryServer(memory);
- setWritingMemoryServer(memory);
-}
-
-
-armarx::armem::data::WaitForMemoryResult
-armarx::armem::client::ComponentPluginUser::useMemoryServer(const std::string& memoryName)
-{
- armem::data::WaitForMemoryResult result;
- result.proxy = memoryNameSystem.useServer(MemoryID().withMemoryName(memoryName));
- if (result.proxy)
- {
- setMemoryServer(result.proxy);
- }
- return result;
-}
diff --git a/source/RobotAPI/libraries/armem/client/ComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
deleted file mode 100644
index ae3f26b26557c11046d84cde8a07483e4ba9ad49..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/client/ComponentPlugin.h
+++ /dev/null
@@ -1,47 +0,0 @@
-#pragma once
-
-
-// ArmarX
-#include <ArmarXCore/core/ComponentPlugin.h>
-
-// RobotAPI
-#include <RobotAPI/interface/armem/server/MemoryInterface.h>
-#include <RobotAPI/libraries/armem/client/ReaderComponentPlugin.h>
-#include <RobotAPI/libraries/armem/client/WriterComponentPlugin.h>
-
-
-
-namespace armarx::armem::client
-{
-
- /**
- * @brief Utility for connecting a Client via Ice to ArMem.
- */
- class ComponentPluginUser :
- virtual public ReaderComponentPluginUser,
- virtual public WriterComponentPluginUser
- {
-
- public:
-
- ComponentPluginUser();
- ~ComponentPluginUser() override;
-
-
- /**
- * @brief Resolve the given memory name, add it as dependency and update the readers and writers.
- * @param The memory's name.
- * @return The result of `waitForMemory()`.
- * @see `armem::MemoryNameSystemComponentPluginUser::useMemory()`
- */
- virtual armem::data::WaitForMemoryResult useMemoryServer(const std::string& memoryName) override;
- using MemoryNameSystemComponentPluginUser::useMemoryServer;
-
-
- protected:
-
- void setMemoryServer(server::MemoryInterfacePrx memory);
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
index 79140344ee99a143e29bcc655d6e1ed23d77b041..121b2924802c1a8c7d6ab411fd1c88755ee56621 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
+++ b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.cpp
@@ -9,6 +9,8 @@
#include <SimoxUtility/algorithm/string/string_tools.h>
+
+
namespace armarx::armem::client
{
@@ -27,10 +29,10 @@ namespace armarx::armem::client
{
ARMARX_CHECK_NOT_NULL(mns);
- data::GetAllRegisteredMemoriesResult result;
+ mns::dto::GetAllRegisteredServersResult result;
try
{
- result = mns->getAllRegisteredMemories();
+ result = mns->getAllRegisteredServers();
}
catch (const Ice::NotRegisteredException& e)
{
@@ -39,24 +41,32 @@ namespace armarx::armem::client
if (result.success)
{
- for (const auto& [name, proxy] : result.proxies)
+ for (const auto& [name, server] : result.servers)
{
- auto [it, inserted] = servers.try_emplace(name, proxy);
- // inserted: OK
- if (not inserted)
+ auto [it, inserted] = servers.try_emplace(name, server);
+ if (inserted)
+ {
+ // OK
+ }
+ else
{
// Compare ice identities, update if it changed.
- if (it->second->ice_getIdentity() != proxy->ice_getIdentity())
+ auto foo = [](auto & oldProxy, const auto & newProxy)
{
- // Replace old proxy by new one.
- it->second = proxy;
- }
+ if (oldProxy->ice_getIdentity() != newProxy->ice_getIdentity())
+ {
+ // Replace old proxy by new one.
+ oldProxy = newProxy;
+ }
+ };
+ foo(it->second.reading, server.reading);
+ foo(it->second.writing, server.writing);
}
}
// Remove all entries which are not there anymore.
for (auto it = servers.begin(); it != servers.end();)
{
- if (result.proxies.count(it->first) == 0)
+ if (result.servers.count(it->first) == 0)
{
it = servers.erase(it);
}
@@ -73,7 +83,8 @@ namespace armarx::armem::client
}
- server::MemoryInterfacePrx MemoryNameSystem::resolveServer(const MemoryID& memoryID)
+ mns::dto::MemoryServerInterfaces
+ MemoryNameSystem::resolveServer(const MemoryID& memoryID)
{
if (auto it = servers.find(memoryID.memoryName); it != servers.end())
{
@@ -94,7 +105,7 @@ namespace armarx::armem::client
}
- server::MemoryInterfacePrx MemoryNameSystem::waitForServer(const MemoryID& memoryID, Time timeout)
+ mns::dto::MemoryServerInterfaces MemoryNameSystem::waitForServer(const MemoryID& memoryID)
{
if (auto it = servers.find(memoryID.memoryName); it != servers.end())
{
@@ -102,15 +113,14 @@ namespace armarx::armem::client
}
else
{
- armem::data::WaitForMemoryInput input;
+ mns::dto::WaitForServerInput input;
input.name = memoryID.memoryName;
- input.timeoutMilliSeconds = timeout.toMilliSeconds();
ARMARX_CHECK_NOT_NULL(mns);
- armem::data::WaitForMemoryResult result = mns->waitForMemory(input);
+ mns::dto::WaitForServerResult result = mns->waitForServer(input);
if (result.success)
{
- return result.proxy;
+ return result.server;
}
else
{
@@ -119,7 +129,7 @@ namespace armarx::armem::client
}
}
- server::MemoryInterfacePrx MemoryNameSystem::useServer(const MemoryID& memoryID)
+ mns::dto::MemoryServerInterfaces MemoryNameSystem::useServer(const MemoryID& memoryID)
{
ARMARX_CHECK_NOT_NULL(component)
<< "Owning component not set when using a memory server. \n"
@@ -131,22 +141,22 @@ namespace armarx::armem::client
}
- server::MemoryInterfacePrx MemoryNameSystem::useServer(const MemoryID& memoryID, ManagedIceObject& component)
+ mns::dto::MemoryServerInterfaces MemoryNameSystem::useServer(const MemoryID& memoryID, ManagedIceObject& component)
{
- server::MemoryInterfacePrx server = waitForServer(memoryID);
+ mns::dto::MemoryServerInterfaces server = waitForServer(memoryID);
// Add dependency.
- component.usingProxy(server->ice_getIdentity().name);
+ component.usingProxy(server.reading->ice_getIdentity().name);
return server;
}
- server::MemoryInterfacePrx MemoryNameSystem::useServer(const std::string& memoryName)
+ mns::dto::MemoryServerInterfaces MemoryNameSystem::useServer(const std::string& memoryName)
{
return useServer(MemoryID().withMemoryName(memoryName));
}
- server::MemoryInterfacePrx MemoryNameSystem::useServer(const std::string& memoryName, ManagedIceObject& component)
+ mns::dto::MemoryServerInterfaces MemoryNameSystem::useServer(const std::string& memoryName, ManagedIceObject& component)
{
return useServer(MemoryID().withMemoryName(memoryName), component);
}
@@ -154,19 +164,19 @@ namespace armarx::armem::client
Reader MemoryNameSystem::getReader(const MemoryID& memoryID)
{
- return Reader(resolveServer(memoryID));
+ return Reader(resolveServer(memoryID).reading);
}
Reader MemoryNameSystem::useReader(const MemoryID& memoryID)
{
- return Reader(useServer(memoryID));
+ return Reader(useServer(memoryID).reading);
}
Reader MemoryNameSystem::useReader(const MemoryID& memoryID, ManagedIceObject& component)
{
- return Reader(useServer(memoryID, component));
+ return Reader(useServer(memoryID, component).reading);
}
@@ -182,56 +192,55 @@ namespace armarx::armem::client
}
+
template <class ClientT>
- std::map<std::string, ClientT> MemoryNameSystem::_getAllClients() const
+ std::map<std::string, ClientT>
+ MemoryNameSystem::_getAllClients(auto&& getProxyFn) const
{
std::map<std::string, ClientT> result;
for (const auto& [name, server] : servers)
{
- result[name] = ClientT(server);
+ if (auto proxy = getProxyFn(server))
+ {
+ result[name] = ClientT(proxy);
+ }
}
return result;
}
- template <class ClientT>
- std::map<std::string, ClientT> MemoryNameSystem::_getAllClients(bool update)
+
+ std::map<std::string, Reader> MemoryNameSystem::getAllReaders(bool update)
{
if (update)
{
this->update();
}
- return const_cast<const MemoryNameSystem&>(*this)._getAllClients<ClientT>();
- }
-
-
- std::map<std::string, Reader> MemoryNameSystem::getAllReaders(bool update)
- {
- return _getAllClients<Reader>(update);
+ return _getAllClients<Reader>(&mns::getReadingInterface);
}
std::map<std::string, Reader> MemoryNameSystem::getAllReaders() const
{
- return _getAllClients<Reader>();
+ return _getAllClients<Reader>(&mns::getReadingInterface);
}
Writer MemoryNameSystem::getWriter(const MemoryID& memoryID)
{
- return Writer(resolveServer(memoryID));
+ return Writer(resolveServer(memoryID).writing);
}
Writer MemoryNameSystem::useWriter(const MemoryID& memoryID)
{
- return Writer(useServer(memoryID));
+ return Writer(useServer(memoryID).writing);
}
Writer MemoryNameSystem::useWriter(const MemoryID& memoryID, ManagedIceObject& component)
{
- return Writer(useServer(memoryID, component));
+ return Writer(useServer(memoryID, component).writing);
}
@@ -249,13 +258,17 @@ namespace armarx::armem::client
std::map<std::string, Writer> MemoryNameSystem::getAllWriters(bool update)
{
- return _getAllClients<Writer>(update);
+ if (update)
+ {
+ this->update();
+ }
+ return _getAllClients<Writer>(&mns::getWritingInterface);
}
std::map<std::string, Writer> MemoryNameSystem::getAllWriters() const
{
- return _getAllClients<Writer>();
+ return _getAllClients<Writer>(&mns::getWritingInterface);
}
@@ -341,15 +354,15 @@ namespace armarx::armem::client
}
- void MemoryNameSystem::registerServer(const MemoryID& memoryID, server::MemoryInterfacePrx proxy)
+ void MemoryNameSystem::registerServer(const MemoryID& memoryID, mns::dto::MemoryServerInterfaces server)
{
- data::RegisterMemoryInput input;
+ mns::dto::RegisterServerInput input;
input.name = memoryID.memoryName;
- input.proxy = proxy;
- ARMARX_CHECK_NOT_NULL(input.proxy);
+ input.server = server;
+ ARMARX_CHECK(server.reading or server.writing) << VAROUT(server.reading) << " | " << VAROUT(server.writing);
ARMARX_CHECK_NOT_NULL(mns);
- data::RegisterMemoryResult result = mns->registerMemory(input);
+ mns::dto::RegisterServerResult result = mns->registerServer(input);
if (!result.success)
{
throw error::ServerRegistrationOrRemovalFailed("register", memoryID, result.errorMessage);
@@ -359,11 +372,11 @@ namespace armarx::armem::client
void MemoryNameSystem::removeServer(const MemoryID& memoryID)
{
- data::RemoveMemoryInput input;
+ mns::dto::RemoveServerInput input;
input.name = memoryID.memoryName;
ARMARX_CHECK_NOT_NULL(mns);
- data::RemoveMemoryResult result = mns->removeMemory(input);
+ mns::dto::RemoveServerResult result = mns->removeServer(input);
if (!result.success)
{
throw error::ServerRegistrationOrRemovalFailed("remove", memoryID, result.errorMessage);
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.h b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.h
index d981bab0383f0d04fdc221fbbd2cbd062d061c53..7779ca2d8b1a65b07ef446675685695dc243de58 100644
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystem.h
+++ b/source/RobotAPI/libraries/armem/client/MemoryNameSystem.h
@@ -30,6 +30,7 @@
#include <RobotAPI/libraries/armem/core/MemoryID.h>
#include <RobotAPI/libraries/armem/client/util/MemoryListener.h>
+#include <RobotAPI/libraries/armem/mns/Registry.h>
namespace armarx
@@ -97,41 +98,6 @@ namespace armarx::armem::client
*/
void update();
- /**
- * @brief Resolve the given memory server for the given memory ID.
- *
- * @param memoryID The memory ID.
- * @return The memory server proxy.
- *
- * @throw `error::CouldNotResolveMemoryServer` If the memory name could not be resolved.
- */
- server::MemoryInterfacePrx resolveServer(const MemoryID& memoryID);
-
- /**
- * @brief Wait for the given memory server.
- *
- * @param memoryID The memory ID.
- * @param timeout How long to wait at maximum. Negative values indicate infinite wait.
- * @return The memory server proxy.
- *
- * @throw `error::CouldNotResolveMemoryServer` If the memory name could not be resolved.
- */
- server::MemoryInterfacePrx waitForServer(const MemoryID& memoryID, Time timeout = Time::milliSeconds(-1));
-
- /**
- * @brief Wait for the given memory server and add a dependency to the memory server.
- *
- * @param memoryID The memory ID.
- * @param component The component that should depend on the memory server.
- * @return The memory server proxy.
- *
- * @throw `error::CouldNotResolveMemoryServer` If the memory name could not be resolved.
- */
- server::MemoryInterfacePrx useServer(const MemoryID& memoryID);
- server::MemoryInterfacePrx useServer(const MemoryID& memoryID, ManagedIceObject& component);
- server::MemoryInterfacePrx useServer(const std::string& memoryName);
- server::MemoryInterfacePrx useServer(const std::string& memoryName, ManagedIceObject& component);
-
// Reader/Writer construction
@@ -225,7 +191,7 @@ namespace armarx::armem::client
*
* @throw `error::ServerRegistrationOrRemovalFailed` If the registration failed.
*/
- void registerServer(const MemoryID& memoryID, server::MemoryInterfacePrx server);
+ void registerServer(const MemoryID& memoryID, mns::dto::MemoryServerInterfaces server);
/**
* @brief Remove a memory server from the MNS.
@@ -247,12 +213,47 @@ namespace armarx::armem::client
}
+ private:
+
+ /**
+ * @brief Resolve the given memory server for the given memory ID.
+ *
+ * @param memoryID The memory ID.
+ * @return The memory server proxy.
+ *
+ * @throw `error::CouldNotResolveMemoryServer` If the memory name could not be resolved.
+ */
+ mns::dto::MemoryServerInterfaces resolveServer(const MemoryID& memoryID);
+
+ /**
+ * @brief Wait for the given memory server.
+ *
+ * @param memoryID The memory ID.
+ * @return The memory server proxy.
+ *
+ * @throw `error::CouldNotResolveMemoryServer` If the memory name could not be resolved.
+ */
+ mns::dto::MemoryServerInterfaces waitForServer(const MemoryID& memoryID);
+
+ /**
+ * @brief Wait for the given memory server and add a dependency to the memory server.
+ *
+ * @param memoryID The memory ID.
+ * @param component The component that should depend on the memory server.
+ * @return The memory server proxy.
+ *
+ * @throw `error::CouldNotResolveMemoryServer` If the memory name could not be resolved.
+ */
+ mns::dto::MemoryServerInterfaces useServer(const MemoryID& memoryID);
+ mns::dto::MemoryServerInterfaces useServer(const MemoryID& memoryID, ManagedIceObject& component);
+ mns::dto::MemoryServerInterfaces useServer(const std::string& memoryName);
+ mns::dto::MemoryServerInterfaces useServer(const std::string& memoryName, ManagedIceObject& component);
+
+
private:
template <class ClientT>
- std::map<std::string, ClientT> _getAllClients(bool update);
- template <class ClientT>
- std::map<std::string, ClientT> _getAllClients() const;
+ std::map<std::string, ClientT> _getAllClients(auto&& proxyFn) const;
/// The MNS proxy.
@@ -262,7 +263,7 @@ namespace armarx::armem::client
ManagedIceObject* component = nullptr;
/// The registered memory servers.
- std::map<std::string, server::MemoryInterfacePrx> servers;
+ std::map<std::string, mns::dto::MemoryServerInterfaces> servers;
};
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.cpp
deleted file mode 100644
index 60fae2cf9b37e450fcfbaee806af8115f496c678..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.cpp
+++ /dev/null
@@ -1,154 +0,0 @@
-#include "MemoryNameSystemComponentPlugin.h"
-
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-#include <RobotAPI/libraries/armem/core/error.h>
-#include <RobotAPI/libraries/armem/core/ice_conversions.h>
-
-
-
-namespace armarx::armem::client::plugins
-{
-
- MemoryNameSystemComponentPlugin::~MemoryNameSystemComponentPlugin()
- {}
-
-
- void MemoryNameSystemComponentPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
- {
- if (!properties->hasDefinition(makePropertyName(PROPERTY_MNS_NAME_NAME)))
- {
- properties->defineOptionalProperty<std::string>(
- makePropertyName(PROPERTY_MNS_NAME_NAME),
- parent<MemoryNameSystemComponentPluginUser>().memoryNameSystemName,
- "Name of the Memory Name System (MNS) component.");
- }
- if (!properties->hasDefinition(makePropertyName(PROPERTY_MNS_ENABLED_NAME)))
- {
- properties->defineOptionalProperty<bool>(
- makePropertyName(PROPERTY_MNS_ENABLED_NAME),
- parent<MemoryNameSystemComponentPluginUser>().memoryNameSystemEnabled,
- "Whether to use (and depend on) the Memory Name System (MNS)."
- "\nSet to false to use this memory as a stand-alone.");
- }
-
- // Subscribe topics by single servers, use this as a prefix.
- properties->topic<MemoryListenerInterface>("MemoryUpdates");
- }
-
- void MemoryNameSystemComponentPlugin::preOnInitComponent()
- {
- if (isMemoryNameSystemEnabled())
- {
- parent().usingProxy(getMemoryNameSystemName());
- }
- }
-
- void MemoryNameSystemComponentPlugin::preOnConnectComponent()
- {
- if (isMemoryNameSystemEnabled())
- {
- ARMARX_DEBUG << "Creating MemoryNameSystem client with owning component '" << parent().getName() << "'.";
- parent<MemoryNameSystemComponentPluginUser>().memoryNameSystem =
- MemoryNameSystem(getMemoryNameSystem(), &parent());
- }
- }
-
- bool MemoryNameSystemComponentPlugin::isMemoryNameSystemEnabled()
- {
- return parentDerives<Component>() ?
- parent<Component>().getProperty<bool>(makePropertyName(PROPERTY_MNS_ENABLED_NAME)) :
- parent<MemoryNameSystemComponentPluginUser>().memoryNameSystemEnabled;
- }
-
- std::string MemoryNameSystemComponentPlugin::getMemoryNameSystemName()
- {
- return parentDerives<Component>() ?
- parent<Component>().getProperty<std::string>(makePropertyName(PROPERTY_MNS_NAME_NAME)) :
- std::string{parent<MemoryNameSystemComponentPluginUser>().memoryNameSystemName};
- }
-
- mns::MemoryNameSystemInterfacePrx MemoryNameSystemComponentPlugin::getMemoryNameSystem()
- {
- return isMemoryNameSystemEnabled() && parentDerives<Component>()
- ? parent<Component>().getProxy<mns::MemoryNameSystemInterfacePrx>(getMemoryNameSystemName())
- : nullptr;
- }
-
-}
-
-namespace armarx::armem::client
-{
-
- MemoryNameSystemComponentPluginUser::MemoryNameSystemComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
- MemoryNameSystemComponentPluginUser::~MemoryNameSystemComponentPluginUser()
- {
- }
-
- void MemoryNameSystemComponentPluginUser::memoryUpdated(
- const std::vector<data::MemoryID>& updatedSnapshotIDs, const Ice::Current&)
- {
- memoryNameSystem.updated(updatedSnapshotIDs);
- }
-
- armem::data::WaitForMemoryResult MemoryNameSystemComponentPluginUser::useMemoryServer(const MemoryID& id)
- {
- armem::data::WaitForMemoryResult result;
- try
- {
- // Add dependency.
- result.proxy = memoryNameSystem.useServer(id);
- result.success = true;
- }
- catch (const armem::error::CouldNotResolveMemoryServer& e)
- {
- result.success = false;
- result.errorMessage = e.what();
- }
- return result;
- }
-
- armem::data::WaitForMemoryResult MemoryNameSystemComponentPluginUser::useMemoryServer(const std::string& memoryName)
- {
- return useMemoryServer(MemoryID().withMemoryName(memoryName));
- }
-
- armem::data::WaitForMemoryResult MemoryNameSystemComponentPluginUser::waitForMemoryServer(const std::string& memoryName)
- {
- armem::data::WaitForMemoryResult result;
- try
- {
- result.proxy = memoryNameSystem.waitForServer(MemoryID().withMemoryName(memoryName));
- result.success = true;
- }
- catch (const armem::error::CouldNotResolveMemoryServer& e)
- {
- result.success = false;
- result.errorMessage = e.what();
- }
- return result;
- }
-
- armem::data::ResolveMemoryNameResult MemoryNameSystemComponentPluginUser::resolveMemoryServer(const std::string& memoryName)
- {
- armem::data::ResolveMemoryNameResult result;
- try
- {
- result.proxy = memoryNameSystem.resolveServer(MemoryID().withMemoryName(memoryName));
- result.success = true;
- }
- catch (const armem::error::CouldNotResolveMemoryServer& e)
- {
- result.success = false;
- result.errorMessage = e.what();
- }
- return result;
- }
-
-}
-
diff --git a/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h b/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h
deleted file mode 100644
index a6a2434a68a033d3e540729c08e83c90babda847..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h
+++ /dev/null
@@ -1,101 +0,0 @@
-#pragma once
-
-#include <ArmarXCore/core/ComponentPlugin.h>
-
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
-#include <RobotAPI/libraries/armem/core/MemoryID.h>
-#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
-
-
-namespace armarx::armem::mns
-{
- class MemoryNameSystemComponentPluginUser;
-}
-
-
-namespace armarx::armem::client::plugins
-{
- /**
- * @brief A base plugin offering optional access and dependency
- * to the Memory Name System (MNS).
- */
- class MemoryNameSystemComponentPlugin : public ComponentPlugin
- {
- public:
-
- using ComponentPlugin::ComponentPlugin;
- virtual ~MemoryNameSystemComponentPlugin() override;
-
- void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
-
- void preOnInitComponent() override;
- void preOnConnectComponent() override;
-
- /**
- * @brief Indicate whether the Memory Name System (MNS) is enabled.
- */
- bool isMemoryNameSystemEnabled();
- /**
- * @brief Get the name of the MNS component.
- */
- std::string getMemoryNameSystemName();
-
- /**
- * @brief Get the MNS proxy.
- * @return The MNS proxy when MNS is enabled, nullptr when MNS is disabled.
- */
- mns::MemoryNameSystemInterfacePrx getMemoryNameSystem();
-
- public:
- static constexpr const char* PROPERTY_MNS_ENABLED_NAME = "mns.MemoryNameSystemEnabled";
- static constexpr const char* PROPERTY_MNS_NAME_NAME = "mns.MemoryNameSystemName";
- };
-
-}
-
-
-#include <ArmarXCore/core/ManagedIceObject.h>
-
-namespace armarx::armem::client
-{
-
- class MemoryNameSystemComponentPluginUser :
- virtual public ManagedIceObject,
- virtual public MemoryListenerInterface
- {
- protected:
-
- MemoryNameSystemComponentPluginUser();
- virtual ~MemoryNameSystemComponentPluginUser() override;
-
-
- virtual void memoryUpdated(const std::vector<data::MemoryID>& updatedSnapshotIDs, const Ice::Current& current) override;
-
-
- [[deprecated("Use memoryNameSystem member instead of function inherited by MemoryNameSystemComponentPluginUser.")]]
- armem::data::WaitForMemoryResult waitForMemoryServer(const std::string& memoryName);
- [[deprecated("Use memoryNameSystem member instead of function inherited by MemoryNameSystemComponentPluginUser.")]]
- armem::data::ResolveMemoryNameResult resolveMemoryServer(const std::string& memoryName);
-
- [[deprecated("Use memoryNameSystem member instead of function inherited by MemoryNameSystemComponentPluginUser.")]]
- armem::data::WaitForMemoryResult useMemoryServer(const MemoryID& id);
- [[deprecated("Use memoryNameSystem member instead of function inherited by MemoryNameSystemComponentPluginUser.")]]
- virtual armem::data::WaitForMemoryResult useMemoryServer(const std::string& memoryName);
-
-
- public:
-
- /// Only valid when enabled.
- MemoryNameSystem memoryNameSystem;
-
- bool memoryNameSystemEnabled = true;
- std::string memoryNameSystemName = "MemoryNameSystem";
-
-
- private:
-
- plugins::MemoryNameSystemComponentPlugin* plugin = nullptr;
-
- };
-}
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
deleted file mode 100644
index c2e4d5ed6df5c3e12c0d3e2ada0b93c91e232133..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-#include <RobotAPI/libraries/armem/client/ReaderComponentPlugin.h>
-
-
-// ArmarX
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-// RobotAPI
-#include <RobotAPI/libraries/armem/core/error.h>
-
-
-namespace armarx::armem::client::plugins
-{
- ReaderComponentPlugin::ReaderComponentPlugin(ManagedIceObject& parent, std::string pre) :
- ComponentPlugin(parent, pre)
- {
- addPlugin(mnsPlugin, pre);
- addPluginDependency(mnsPlugin);
- }
-
-
- ReaderComponentPlugin::~ReaderComponentPlugin()
- {
- }
-}
-
-
-
-namespace armarx::armem::client
-{
- ReaderComponentPluginUser::ReaderComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
-
- ReaderComponentPluginUser::~ReaderComponentPluginUser()
- {
- }
-
-
- void
- ReaderComponentPluginUser::setReadingMemoryServer(server::ReadingMemoryInterfacePrx memory)
- {
- memoryReader.setReadingMemory(memory);
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h b/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
deleted file mode 100644
index 059c5f93d5e8d872ecdc9bff86593db2c3de1163..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/client/ReaderComponentPlugin.h
+++ /dev/null
@@ -1,67 +0,0 @@
-#pragma once
-
-
-// STD/STL
-#include <vector>
-
-// ArmarX
-#include <ArmarXCore/core/ComponentPlugin.h>
-
-// RobotAPI
-#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
-
-#include <RobotAPI/libraries/armem/client/Reader.h>
-#include <RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h>
-
-
-namespace armarx::armem::client::plugins
-{
-
- class ReaderComponentPlugin : public ComponentPlugin
- {
-
- public:
-
- ReaderComponentPlugin(ManagedIceObject& parent, std::string pre);
- ~ReaderComponentPlugin() override;
-
-
- private:
-
- plugins::MemoryNameSystemComponentPlugin* mnsPlugin = nullptr;
-
- };
-
-}
-
-
-namespace armarx::armem::client
-{
-
- class ReaderComponentPluginUser :
- virtual public ManagedIceObject,
- virtual public MemoryNameSystemComponentPluginUser
- {
-
- public:
-
- ReaderComponentPluginUser();
- ~ReaderComponentPluginUser() override;
-
-
- protected:
-
- void setReadingMemoryServer(server::ReadingMemoryInterfacePrx memory);
-
- Reader memoryReader;
-
-
- private:
-
- plugins::ReaderComponentPlugin* plugin = nullptr;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
deleted file mode 100644
index d4b95ca3565e8552322e7e7cdfac131335ca06f3..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.cpp
+++ /dev/null
@@ -1,59 +0,0 @@
-#include <RobotAPI/libraries/armem/client/WriterComponentPlugin.h>
-
-
-// ArmarX
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-// RobotAPI
-#include <RobotAPI/libraries/armem/core/error.h>
-
-
-namespace armarx::armem::client::plugins
-{
- WriterComponentPlugin::WriterComponentPlugin(ManagedIceObject& parent, std::string pre) :
- ComponentPlugin(parent, pre)
- {
- addPlugin(mnsPlugin, pre);
- addPluginDependency(mnsPlugin);
- }
-
- WriterComponentPlugin::~WriterComponentPlugin()
- {
- }
-}
-
-
-namespace armarx::armem::client
-{
- WriterComponentPluginUser::WriterComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
-
- WriterComponentPluginUser::~WriterComponentPluginUser()
- {
- // pass
- }
-
-
- void
- WriterComponentPluginUser::setWritingMemoryServer(server::WritingMemoryInterfacePrx memory)
- {
- memoryWriter.setWritingMemory(memory);
- }
-
-
- armem::data::WaitForMemoryResult WriterComponentPluginUser::useMemoryServer(const std::string& memoryName)
- {
- armem::data::WaitForMemoryResult result;
- result.proxy = memoryNameSystem.useServer(MemoryID().withMemoryName(memoryName));
- if (result.proxy)
- {
- setWritingMemoryServer(result.proxy);
- }
- return result;
- }
-}
-
diff --git a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h b/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
deleted file mode 100644
index 3ae9a66bfab912237934d4bea6580a2e32a2c7fb..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/client/WriterComponentPlugin.h
+++ /dev/null
@@ -1,64 +0,0 @@
-#pragma once
-
-
-// ArmarX
-#include <ArmarXCore/core/ComponentPlugin.h>
-
-// RobotAPI
-#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
-#include <RobotAPI/interface/armem/server/WritingMemoryInterface.h>
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-
-#include <RobotAPI/libraries/armem/client/Writer.h>
-#include <RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h>
-
-
-namespace armarx::armem::client::plugins
-{
-
- class WriterComponentPlugin : public ComponentPlugin
- {
-
- public:
-
- WriterComponentPlugin(ManagedIceObject& parent, std::string pre);
- ~WriterComponentPlugin() override;
-
- private:
-
- plugins::MemoryNameSystemComponentPlugin* mnsPlugin = nullptr;
-
- };
-}
-
-
-namespace armarx::armem::client
-{
- class WriterComponentPluginUser :
- virtual public ManagedIceObject,
- virtual public MemoryNameSystemComponentPluginUser
- {
-
- public:
-
- WriterComponentPluginUser();
- ~WriterComponentPluginUser() override;
-
- virtual armem::data::WaitForMemoryResult useMemoryServer(const std::string& memoryName) override;
- using MemoryNameSystemComponentPluginUser::useMemoryServer;
-
-
- protected:
-
- void setWritingMemoryServer(server::WritingMemoryInterfacePrx memory);
-
- Writer memoryWriter;
-
-
- private:
-
- plugins::WriterComponentPlugin* plugin = nullptr;
-
- };
-
-}
diff --git a/source/RobotAPI/libraries/armem/client/forward_declarations.h b/source/RobotAPI/libraries/armem/client/forward_declarations.h
index 205f56634456d4179d1baac494837d1ecdfe7069..ab6a8fb90cabb42d6838bcc2f57561aeafe01a30 100644
--- a/source/RobotAPI/libraries/armem/client/forward_declarations.h
+++ b/source/RobotAPI/libraries/armem/client/forward_declarations.h
@@ -8,9 +8,9 @@ namespace armarx::armem::client::query
{
class Builder;
}
+
namespace armarx::armem::client
{
- class ComponentPluginUser;
class MemoryNameSystem;
class Reader;
@@ -19,6 +19,20 @@ namespace armarx::armem::client
using QueryBuilder = query::Builder;
struct QueryInput;
struct QueryResult;
+}
+namespace armarx::armem::client::plugins
+{
+ class Plugin;
+ class PluginUser;
+ class ListeningPluginUser;
}
+namespace armarx::armem
+{
+ using ClientPlugin = client::plugins::Plugin;
+ using ClientPluginUser = client::plugins::PluginUser;
+ using ListeningClientPluginUser = client::plugins::ListeningPluginUser;
+}
+
+
diff --git a/source/RobotAPI/libraries/armem/client/plugins.h b/source/RobotAPI/libraries/armem/client/plugins.h
new file mode 100644
index 0000000000000000000000000000000000000000..b91ccec3895f6a817c800278b3b3c0318d038750
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins.h
@@ -0,0 +1,13 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/client/forward_declarations.h>
+
+#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
+#include <RobotAPI/libraries/armem/client/plugins/Plugin.h>
+#include <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
+
+
+namespace armarx::armem::client
+{
+ using ComponentPluginUser = plugins::ListeningPluginUser;
+}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.cpp b/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..463c6443e11ddd0ec92d6c5bb4b1001e4e97dfed
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.cpp
@@ -0,0 +1,21 @@
+#include "ListeningPlugin.h"
+
+#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
+
+#include <ArmarXCore/core/application/properties/PropertyDefinitionContainer.h>
+
+
+namespace armarx::armem::client::plugins
+{
+
+ ListeningPlugin::~ListeningPlugin()
+ {}
+
+
+ void ListeningPlugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+ {
+ // Subscribe topics by single servers, use this as a prefix.
+ properties->topic<MemoryListenerInterface>("MemoryUpdates");
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.h b/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..80aac20c61d49ffc67963da3b14be0c984ab5a3a
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/ListeningPlugin.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <ArmarXCore/core/ComponentPlugin.h>
+
+
+namespace armarx::armem::client::plugins
+{
+
+ /**
+ * @brief Subscribes the memory updates topic.
+ *
+ * When using this plugin, the component needs to implement the
+ * `MemoryListenerInterface`.
+ *
+ * @see MemoryListenerInterface
+ */
+ class ListeningPlugin :
+ public armarx::ComponentPlugin
+ {
+ public:
+
+ using ComponentPlugin::ComponentPlugin;
+ virtual ~ListeningPlugin() override;
+
+ virtual void postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties) override;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3a40a9ffe27b1116fe5a78f5d1a3088652818b38
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.cpp
@@ -0,0 +1,29 @@
+#include "ListeningPluginUser.h"
+
+#include "ListeningPlugin.h"
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+
+namespace armarx::armem::client::plugins
+{
+
+ ListeningPluginUser::ListeningPluginUser()
+ {
+ addPlugin(listeningPlugin);
+ }
+
+
+ ListeningPluginUser::~ListeningPluginUser()
+ {
+ }
+
+
+ void ListeningPluginUser::memoryUpdated(
+ const std::vector<data::MemoryID>& updatedSnapshotIDs, const Ice::Current&)
+ {
+ memoryNameSystem().updated(updatedSnapshotIDs);
+ }
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h
new file mode 100644
index 0000000000000000000000000000000000000000..7314b32c048ddfff685ad2095d440cf0f515194c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h
@@ -0,0 +1,51 @@
+#pragma once
+
+#include "PluginUser.h"
+
+#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
+
+#include <vector>
+
+
+namespace armarx::armem::client::plugins
+{
+ class ListeningPlugin;
+
+
+ /**
+ * @brief A memory name system client which listens to the memory updates
+ * topic (`MemoryListenerInterface`).
+ *
+ * Derive from this plugin user class to receive memory update events.
+ */
+ class ListeningPluginUser :
+ virtual public PluginUser,
+ virtual public MemoryListenerInterface
+ {
+ protected:
+
+ ListeningPluginUser();
+ virtual ~ListeningPluginUser() override;
+
+
+ // MemoryListenerInterface
+ virtual void
+ memoryUpdated(const std::vector<data::MemoryID>& updatedSnapshotIDs,
+ const Ice::Current&) override;
+
+
+ private:
+
+ ListeningPlugin* listeningPlugin = nullptr;
+
+ };
+
+}
+namespace armarx::armem::client
+{
+ using ListeningPluginUser = plugins::ListeningPluginUser;
+}
+namespace armarx::armem
+{
+ using ListeningClientPluginUser = client::ListeningPluginUser;
+}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/client/plugins/Plugin.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..74cf798f6f65d31ee1e4bb2a2ba239c264d9f88b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/Plugin.cpp
@@ -0,0 +1,100 @@
+#include "Plugin.h"
+
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/core/ice_conversions.h>
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+
+namespace armarx::armem::client::plugins
+{
+
+ Plugin::Plugin(
+ ManagedIceObject& parent, std::string pre) :
+ ComponentPlugin(parent, pre)
+ {
+ }
+
+
+ Plugin::~Plugin()
+ {}
+
+
+ void Plugin::postCreatePropertyDefinitions(armarx::PropertyDefinitionsPtr& properties)
+ {
+ if (not properties->hasDefinition(makePropertyName(PROPERTY_MNS_NAME_NAME)))
+ {
+ properties->defineOptionalProperty<std::string>(
+ makePropertyName(PROPERTY_MNS_NAME_NAME),
+ memoryNameSystemName,
+ "Name of the Memory Name System (MNS) component.");
+ }
+ if (not properties->hasDefinition(makePropertyName(PROPERTY_MNS_ENABLED_NAME)))
+ {
+ properties->defineOptionalProperty<bool>(
+ makePropertyName(PROPERTY_MNS_ENABLED_NAME),
+ memoryNameSystemEnabled,
+ "Whether to use (and depend on) the Memory Name System (MNS)."
+ "\nSet to false to use this memory as a stand-alone.");
+ }
+ }
+
+
+ void Plugin::preOnInitComponent()
+ {
+ if (isMemoryNameSystemEnabled())
+ {
+ parent().usingProxy(getMemoryNameSystemName());
+ }
+ }
+
+
+ void Plugin::preOnConnectComponent()
+ {
+ if (isMemoryNameSystemEnabled())
+ {
+ ARMARX_DEBUG << "Creating MemoryNameSystem client with owning component '" << parent().getName() << "'.";
+ memoryNameSystem = MemoryNameSystem(getMemoryNameSystemProxy(), &parent());
+ }
+ }
+
+
+ bool
+ Plugin::isMemoryNameSystemEnabled()
+ {
+ return memoryNameSystemEnabled;
+ }
+
+
+ std::string
+ Plugin::getMemoryNameSystemName()
+ {
+ return memoryNameSystemName;
+ }
+
+
+ mns::MemoryNameSystemInterfacePrx
+ Plugin::getMemoryNameSystemProxy()
+ {
+ return isMemoryNameSystemEnabled() and parentDerives<ManagedIceObject>()
+ ? parent<ManagedIceObject>().getProxy<mns::MemoryNameSystemInterfacePrx>(getMemoryNameSystemName())
+ : nullptr;
+ }
+
+
+ MemoryNameSystem&
+ Plugin::getMemoryNameSystemClient()
+ {
+ return memoryNameSystem;
+ }
+
+
+ const MemoryNameSystem&
+ Plugin::getMemoryNameSystemClient() const
+ {
+ return memoryNameSystem;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/Plugin.h b/source/RobotAPI/libraries/armem/client/plugins/Plugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..eff9134fda523d7b91b6cda2fdd4845dd78238cb
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/Plugin.h
@@ -0,0 +1,79 @@
+#pragma once
+
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+#include <ArmarXCore/core/ComponentPlugin.h>
+
+#include <string>
+
+
+namespace armarx::armem::client::plugins
+{
+
+ /**
+ * @brief A component plugin offering client-side access to to the
+ * working memory system by providing a Memory Name System (MNS) client.
+ *
+ * @see MemoryNameSystem
+ */
+ class Plugin :
+ public armarx::ComponentPlugin
+ {
+ public:
+
+ Plugin(ManagedIceObject& parent, std::string pre);
+ virtual ~Plugin() override;
+
+
+ void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ void preOnInitComponent() override;
+ void preOnConnectComponent() override;
+
+
+ public:
+
+ /**
+ * @brief Get the MNS client.
+ *
+ * Only valid when enabled.
+ */
+ MemoryNameSystem& getMemoryNameSystemClient();
+ const MemoryNameSystem& getMemoryNameSystemClient() const;
+
+
+ /**
+ * @brief Indicate whether the Memory Name System (MNS) is enabled.
+ */
+ bool isMemoryNameSystemEnabled();
+
+ /**
+ * @brief Get the name of the MNS component.
+ */
+ std::string getMemoryNameSystemName();
+
+ /**
+ * @brief Get the MNS proxy.
+ * @return The MNS proxy when MNS is enabled, nullptr when MNS is disabled.
+ */
+ mns::MemoryNameSystemInterfacePrx getMemoryNameSystemProxy();
+
+
+ protected:
+
+ /// The MNS client.
+ MemoryNameSystem memoryNameSystem;
+
+ bool memoryNameSystemEnabled = true;
+ std::string memoryNameSystemName = "MemoryNameSystem";
+
+
+ protected:
+
+ static constexpr const char* PROPERTY_MNS_ENABLED_NAME = "mns.MemoryNameSystemEnabled";
+ static constexpr const char* PROPERTY_MNS_NAME_NAME = "mns.MemoryNameSystemName";
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/PluginUser.cpp b/source/RobotAPI/libraries/armem/client/plugins/PluginUser.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c4129c63d9c51b011bbeb42f412a5372f244a532
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/PluginUser.cpp
@@ -0,0 +1,33 @@
+#include "PluginUser.h"
+#include "Plugin.h"
+
+#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+
+
+namespace armarx::armem::client::plugins
+{
+
+ PluginUser::PluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+
+ PluginUser::~PluginUser()
+ {
+ }
+
+
+ MemoryNameSystem& PluginUser::memoryNameSystem()
+ {
+ return plugin->getMemoryNameSystemClient();
+ }
+
+
+ const MemoryNameSystem& PluginUser::memoryNameSystem() const
+ {
+ return plugin->getMemoryNameSystemClient();
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/client/plugins/PluginUser.h b/source/RobotAPI/libraries/armem/client/plugins/PluginUser.h
new file mode 100644
index 0000000000000000000000000000000000000000..0638084dd61bc6563a6a99797a0e7eef96415204
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/client/plugins/PluginUser.h
@@ -0,0 +1,58 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/client/forward_declarations.h>
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+
+// Use this one include in your .cpp:
+// #include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+
+
+namespace armarx::armem::client::plugins
+{
+ class Plugin;
+
+
+ /**
+ * @brief Adds the Memory Name System client component plugin.
+ *
+ * This plugin class does not implement the `MemoryListenerInterface`.
+ * Therefore, it will not receive and process memory udpate events via the
+ * memory updates topic. If you want to receive these updates, use the
+ * `ListeningMemoryNameSystemPluginUser`.
+ *
+ *
+ * @see MemoryNameSystemPlugin
+ * @see ListeningMemoryNameSystemPluginUser
+ */
+ class PluginUser :
+ virtual public armarx::ManagedIceObject
+ {
+ protected:
+
+ PluginUser();
+ virtual ~PluginUser() override;
+
+
+ public:
+
+ MemoryNameSystem& memoryNameSystem();
+ const MemoryNameSystem& memoryNameSystem() const;
+
+
+ private:
+
+ plugins::Plugin* plugin = nullptr;
+
+ };
+
+}
+namespace armarx::armem::client
+{
+ using PluginUser = plugins::PluginUser;
+}
+namespace armarx::armem
+{
+ using ClientPluginUser = client::PluginUser;
+}
diff --git a/source/RobotAPI/libraries/armem/mns/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/mns/ComponentPlugin.cpp
deleted file mode 100644
index 79e58300a6968dfda3f60d89ff0511f9ec72f267..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/mns/ComponentPlugin.cpp
+++ /dev/null
@@ -1,63 +0,0 @@
-#include "ComponentPlugin.h"
-
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/core/time/CycleUtil.h>
-
-#include "../error.h"
-
-
-namespace armarx::armem::mns::plugins
-{
-
-}
-
-
-namespace armarx::armem::mns
-{
-
- ComponentPluginUser::ComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
-
- armem::data::RegisterMemoryResult ComponentPluginUser::registerMemory(const armem::data::RegisterMemoryInput& input, const Ice::Current&)
- {
- std::scoped_lock lock(mnsMutex);
- armem::data::RegisterMemoryResult result = mns.registerMemory(input);
- return result;
- }
-
-
- armem::data::RemoveMemoryResult ComponentPluginUser::removeMemory(const armem::data::RemoveMemoryInput& input, const Ice::Current&)
- {
- std::scoped_lock lock(mnsMutex);
- armem::data::RemoveMemoryResult result = mns.removeMemory(input);
- return result;
- }
-
-
- armem::data::GetAllRegisteredMemoriesResult
- ComponentPluginUser::getAllRegisteredMemories(const Ice::Current&)
- {
- std::scoped_lock lock(mnsMutex);
- armem::data::GetAllRegisteredMemoriesResult result = mns.getAllRegisteredMemories();
- return result;
- }
-
-
- armem::data::ResolveMemoryNameResult ComponentPluginUser::resolveMemoryName(const armem::data::ResolveMemoryNameInput& input, const Ice::Current&)
- {
- std::scoped_lock lock(mnsMutex);
- armem::data::ResolveMemoryNameResult result = mns.resolveMemoryName(input);
- return result;
- }
-
-
- armem::data::WaitForMemoryResult ComponentPluginUser::waitForMemory(const armem::data::WaitForMemoryInput& input, const Ice::Current&)
- {
- // No lock - this call blocks internally.
- return mns.waitForMemory(input);
- }
-
-}
diff --git a/source/RobotAPI/libraries/armem/mns/ComponentPlugin.h b/source/RobotAPI/libraries/armem/mns/ComponentPlugin.h
deleted file mode 100644
index 1347c197e6d4f560b5773abfed30b92e8f8a7604..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/mns/ComponentPlugin.h
+++ /dev/null
@@ -1,62 +0,0 @@
-#pragma once
-
-#include <mutex>
-
-#include <ArmarXCore/core/Component.h>
-
-#include <RobotAPI/interface/armem/server/MemoryInterface.h>
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-
-#include "MemoryNameSystem.h"
-
-
-namespace armarx::armem::mns::plugins
-{
-
- class ComponentPlugin : public armarx::ComponentPlugin
- {
- public:
- using armarx::ComponentPlugin::ComponentPlugin;
- };
-
-}
-
-
-namespace armarx::armem::mns
-{
-
- /**
- * @brief Utility for connecting a Memory to Ice.
- */
- class ComponentPluginUser :
- virtual public ManagedIceObject
- , virtual public mns::MemoryNameSystemInterface
- {
- public:
-
- ComponentPluginUser();
-
- // mns::MemoryNameSystemInterface interface
- public:
- armem::data::RegisterMemoryResult registerMemory(const armem::data::RegisterMemoryInput& input, const Ice::Current& = Ice::emptyCurrent) override;
- armem::data::RemoveMemoryResult removeMemory(const armem::data::RemoveMemoryInput& input, const Ice::Current& = Ice::emptyCurrent) override;
- armem::data::GetAllRegisteredMemoriesResult getAllRegisteredMemories(const Ice::Current&) override;
- armem::data::ResolveMemoryNameResult resolveMemoryName(const armem::data::ResolveMemoryNameInput& input, const Ice::Current& = Ice::emptyCurrent) override;
- armem::data::WaitForMemoryResult waitForMemory(const armem::data::WaitForMemoryInput& input, const Ice::Current& = Ice::emptyCurrent) override;
-
-
- public:
-
- std::mutex mnsMutex;
- MemoryNameSystem mns;
-
-
- private:
-
- plugins::ComponentPlugin* plugin = nullptr;
-
-
- };
-
-
-}
diff --git a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
index 6e001784b90104580a49b2510bdb6583fa36783c..a80a189ff585c7610bebe0978468aec82ebe48b9 100644
--- a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
+++ b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.cpp
@@ -4,185 +4,41 @@
namespace armarx::armem::mns
{
- MemoryNameSystem::MemoryNameSystem(const std::string& logTag)
+ // dto::WaitForServerResult MemoryNameSystem::waitForServer(const dto::WaitForServerInput& input)
+ void MemoryNameSystem::waitForServer_async(
+ const AMD_MemoryNameSystemInterface_waitForServerPtr& future,
+ const dto::WaitForServerInput& input)
{
- armarx::Logging::setTag(logTag);
+ waitForServerFutures[input.name].push_back(future);
+ waitForServer_processOnce();
}
- armem::data::RegisterMemoryResult MemoryNameSystem::registerMemory(const armem::data::RegisterMemoryInput& input)
+ void MemoryNameSystem::waitForServer_processOnce()
{
- armem::data::RegisterMemoryResult result;
-
- if (!input.proxy)
- {
- result.success = false;
- std::stringstream ss;
- ss << "Could not register the memory '" << input.name << "'."
- << "\nGiven proxy is null."
- << "\nIf you want to remove a memory, use `removeMemory()`.";
- result.errorMessage = ss.str();
- return result;
- }
-
- auto it = memoryMap.find(input.name);
- if (it == memoryMap.end())
- {
- it = memoryMap.emplace(input.name, MemoryInfo{}).first;
- }
- else if (!input.existOk)
- {
- result.success = false;
- std::stringstream ss;
- ss << "Could not register the memory '" << input.name << "'."
- << "\nMemory '" << input.name << "' is already registered. "
- << "\nIf this is ok, set 'existOk' to true when registering the memory.";
- result.errorMessage = ss.str();
- return result;
- }
-
- MemoryInfo& info = it->second;
- info.name = input.name;
- info.proxy = input.proxy;
- info.timeRegistered = armem::Time::now();
- ARMARX_DEBUG << "Registered memory '" << info.name << "'.";
-
- {
- std::unique_lock lock(waitForMemoryMutex);
- waitForMemoryCond.notify_all();
- }
-
- result.success = true;
- return result;
- }
-
-
- armem::data::RemoveMemoryResult MemoryNameSystem::removeMemory(const armem::data::RemoveMemoryInput& input)
- {
- armem::data::RemoveMemoryResult result;
-
- if (auto it = memoryMap.find(input.name); it != memoryMap.end())
- {
- result.success = true;
- memoryMap.erase(it);
-
- ARMARX_DEBUG << "Removed memory '" << input.name << "'.";
- }
- else if (!input.notExistOk)
- {
- result.success = false;
- std::stringstream ss;
- ss << "Could not remove the memory '" << input.name << "."
- << "\nMemory '" << input.name << "' is not registered. "
- << "\nIf this is ok, set 'notExistOk' to true when removing the memory.";
- result.errorMessage = ss.str();
- }
-
- return result;
- }
-
-
- data::GetAllRegisteredMemoriesResult
- MemoryNameSystem::getAllRegisteredMemories()
- {
- data::GetAllRegisteredMemoriesResult result;
- result.success = true;
- result.errorMessage = "";
-
- for (const auto& [name, info] : memoryMap)
+ for (auto it = waitForServerFutures.begin(); it != waitForServerFutures.end();)
{
- try
+ auto& [name, futures] = *it;
+ if (auto st = servers.find(name); st != servers.end())
{
- info.proxy->ice_ping();
- result.proxies[name] = info.proxy;
- }
- catch (const Ice::Exception&)
- {
- }
- }
-
- return result;
- }
-
-
- armem::data::ResolveMemoryNameResult MemoryNameSystem::resolveMemoryName(const armem::data::ResolveMemoryNameInput& input)
- {
- armem::data::ResolveMemoryNameResult result;
- try
- {
- MemoryInfo& info = memoryMap.at(input.name);
-
- result.success = true;
- result.proxy = info.proxy;
-
- ARMARX_DEBUG << "Resolved memory name '" << input.name << "'.";
- }
- catch (const std::out_of_range&)
- {
- result.success = false;
- std::stringstream ss;
- ss << "Could not resolve the memory name '" << input.name << "'."
- << "\nMemory '" << input.name << "' is not registered.";
- result.errorMessage = ss.str();
- }
-
- return result;
- }
-
-
- data::WaitForMemoryResult MemoryNameSystem::waitForMemory(const data::WaitForMemoryInput& input)
- {
- data::ResolveMemoryNameInput resInput;
- resInput.name = input.name;
-
- Time start = Time::now();
- data::ResolveMemoryNameResult resResult;
- {
- std::unique_lock lock(waitForMemoryMutex);
- auto pred = [this, resInput, &resResult]()
- {
- resResult = resolveMemoryName(resInput);
- return resResult.success;
- };
- if (input.timeoutMilliSeconds >= 0)
- {
- waitForMemoryCond.wait_for(lock, std::chrono::milliseconds(input.timeoutMilliSeconds), pred);
+ ServerInfo& info = st->second;
+
+ dto::WaitForServerResult result;
+ result.success = true;
+ result.server = info.server;
+
+ // Send responses and remove entry.
+ for (auto& future : futures)
+ {
+ future->ice_response(result);
+ }
+ it = waitForServerFutures.erase(it);
}
else
{
- waitForMemoryCond.wait(lock, pred);
+ ++it; // Skip.
}
}
-
- armem::data::WaitForMemoryResult result;
- result.success = resResult.success;
-
- if (resResult.success)
- {
- ARMARX_CHECK(resResult.proxy);
- result.proxy = resResult.proxy;
- }
- else
- {
- ARMARX_CHECK((Time::now() - start).toMilliSeconds() > input.timeoutMilliSeconds)
- << (Time::now() - start).toMilliSeconds() << " > " << input.timeoutMilliSeconds;
-
- std::stringstream ss;
- ss << "Timeout (" << input.timeoutMilliSeconds << " ms) while waiting for memory '" << input.name << "'.";
- if (resResult.errorMessage.size() > 0)
- {
- ss << "\n" << resResult.errorMessage;
- }
- result.errorMessage = ss.str();
- }
-
- return result;
- }
-
-
- bool MemoryNameSystem::hasMemory(const std::string& memoryName) const
- {
- return memoryMap.count(memoryName) > 0;
}
@@ -195,20 +51,41 @@ namespace armarx::armem::mns
int row = 0;
grid.add(Label("Memory Name"), {row, 0})
.add(Label("Component Name"), {row, 1})
- .add(Label("Registration Time"), {row, 2})
+ .add(Label("R/W"), {row, 2})
+ .add(Label("Registration Time"), {row, 3})
;
row++;
- for (const auto& [name, info] : memoryMap)
+ for (const auto& [name, info] : servers)
{
ARMARX_CHECK_EQUAL(name, info.name);
- grid
- .add(Label(name), {row, 0})
- .add(Label(info.proxy->ice_getIdentity().name), {row, 1})
- .add(Label(armem::toDateTimeMilliSeconds(info.timeRegistered, 0)), {row, 2})
- ;
+ std::string componentName = "";
+ std::string mode = "";
+ if (info.server.reading)
+ {
+ componentName = info.server.reading->ice_getIdentity().name;
+ mode += "R";
+ }
+ if (info.server.writing)
+ {
+ componentName = info.server.writing->ice_getIdentity().name;
+ mode += "W";
+ }
+
+ int col = 0;
+ grid.add(Label(name), {row, col});
+ ++col;
+
+ grid.add(Label(componentName), {row, col});
+ ++col;
+
+ grid.add(Label(mode), {row, col});
+ ++col;
+
+ grid.add(Label(armem::toDateTimeMilliSeconds(info.timeRegistered, 0)), {row, col});
+ ++col;
- row++;
+ ++row;
}
return grid;
diff --git a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.h b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.h
index 7372246d7e8059787f97f117931830d12c9dc082..51e4719f127ee576073e0c9b45cb0635241a185d 100644
--- a/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.h
+++ b/source/RobotAPI/libraries/armem/mns/MemoryNameSystem.h
@@ -1,55 +1,36 @@
#pragma once
-#include <condition_variable>
-#include <mutex>
-
-#include <ArmarXCore/core/logging/Logging.h>
+#include "Registry.h"
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-#include <RobotAPI/interface/armem/server/MemoryInterface.h>
#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
-#include "../core/Time.h"
+#include <map>
+#include <string>
namespace armarx::armem::mns
{
- class MemoryNameSystem : armarx::Logging
+ class MemoryNameSystem : public Registry
{
public:
- MemoryNameSystem(const std::string& logTag = "MemoryNameSystem");
-
-
- /**
- * @brief Register a new memory or update an existing entry.
- *
- * Causes threads waiting in `waitForMemory()` to resume if the respective
- * memory was added.
- */
- data::RegisterMemoryResult registerMemory(const data::RegisterMemoryInput& input);
- /**
- * @brief Remove a memory entry.
- */
- data::RemoveMemoryResult removeMemory(const data::RemoveMemoryInput& input);
+ using WaitForServerFuturePtr = AMD_MemoryNameSystemInterface_waitForServerPtr;
- data::GetAllRegisteredMemoriesResult getAllRegisteredMemories();
- /**
- * @brief Gets a memory entry, if it is available.
- */
- data::ResolveMemoryNameResult resolveMemoryName(const data::ResolveMemoryNameInput& input);
+ public:
/**
- * @brief Blocks until the specified memory is available, returning its proxy.
+ * @brief Store the call in a container for later response.
*/
- data::WaitForMemoryResult waitForMemory(const data::WaitForMemoryInput& input);
+ void waitForServer_async(
+ const AMD_MemoryNameSystemInterface_waitForServerPtr& future,
+ const dto::WaitForServerInput& input);
+ void waitForServer_processOnce();
- /// Indicates whether a memory entry for that name exists.
- bool hasMemory(const std::string& memoryName) const;
/// Builds a RemoteGui grid containing information about registered memories.
armarx::RemoteGui::Client::GridLayout RemoteGui_buildInfoGrid();
@@ -57,22 +38,8 @@ namespace armarx::armem::mns
public:
- /// Information about a memory entry.
- struct MemoryInfo
- {
- std::string name;
- server::MemoryInterfacePrx proxy;
- Time timeRegistered;
- };
-
- /// The registered memories.
- std::map<std::string, MemoryInfo> memoryMap;
-
-
- /// Mutex for `waitForMemoryCond`.
- std::mutex waitForMemoryMutex;
- /// Condition variable used by `waitForMemory()`.
- std::condition_variable waitForMemoryCond;
+ /// Queued calls to `waitForServer`.
+ std::map<std::string, std::vector<WaitForServerFuturePtr>> waitForServerFutures;
};
diff --git a/source/RobotAPI/libraries/armem/mns/Registry.cpp b/source/RobotAPI/libraries/armem/mns/Registry.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..260cfcd818a426ae7b4f18c6cde5a4180a459f0b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/mns/Registry.cpp
@@ -0,0 +1,162 @@
+#include "Registry.h"
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+
+namespace armarx::armem::mns
+{
+
+ Registry::Registry(const std::string& logTag)
+ {
+ armarx::Logging::setTag(logTag);
+ }
+
+
+ bool Registry::hasServer(const std::string& memoryName) const
+ {
+ return servers.count(memoryName) > 0;
+ }
+
+
+ dto::RegisterServerResult Registry::registerServer(const dto::RegisterServerInput& input)
+ {
+ dto::RegisterServerResult result;
+
+ if (not(input.server.reading or input.server.writing))
+ {
+ result.success = false;
+ std::stringstream ss;
+ ss << "Could not register the memory server '" << input.name << "'."
+ << "\nGiven proxies are null."
+ << "\nIf you want to remove a memory server, use `removeServer()`.";
+ result.errorMessage = ss.str();
+ return result;
+ }
+
+ auto it = servers.find(input.name);
+ if (it == servers.end())
+ {
+ it = servers.emplace(input.name, ServerInfo{}).first;
+ }
+ else if (not input.existOk)
+ {
+ result.success = false;
+ std::stringstream ss;
+ ss << "Could not register the memory '" << input.name << "'."
+ << "\nMemory '" << input.name << "' is already registered. "
+ << "\nIf this is ok, set 'existOk' to true when registering the memory.";
+ result.errorMessage = ss.str();
+ return result;
+ }
+
+ ServerInfo& info = it->second;
+ info.name = input.name;
+ info.server = input.server;
+ info.timeRegistered = armem::Time::now();
+ ARMARX_DEBUG << "Registered memory '" << info.name << "'.";
+
+ result.success = true;
+ return result;
+ }
+
+
+ dto::RemoveServerResult Registry::removeServer(const dto::RemoveServerInput& input)
+ {
+ dto::RemoveServerResult result;
+
+ if (auto it = servers.find(input.name); it != servers.end())
+ {
+ result.success = true;
+ servers.erase(it);
+
+ ARMARX_DEBUG << "Removed memory '" << input.name << "'.";
+ }
+ else if (!input.notExistOk)
+ {
+ result.success = false;
+ std::stringstream ss;
+ ss << "Could not remove the memory '" << input.name << "."
+ << "\nMemory '" << input.name << "' is not registered. "
+ << "\nIf this is ok, set 'notExistOk' to true when removing the memory.";
+ result.errorMessage = ss.str();
+ }
+
+ return result;
+ }
+
+
+ template <class Prx>
+ bool isAvailable(const Prx& proxy)
+ {
+ if (proxy)
+ {
+ try
+ {
+ proxy->ice_ping();
+ return true;
+ }
+ catch (const Ice::Exception&)
+ {
+ }
+ }
+ return false;
+ }
+
+
+ dto::GetAllRegisteredServersResult
+ Registry::getAllRegisteredServers()
+ {
+ dto::GetAllRegisteredServersResult result;
+ result.success = true;
+ result.errorMessage = "";
+
+ for (const auto& [name, info] : servers)
+ {
+ if (isAvailable(info.server.reading) or isAvailable(info.server.writing))
+ {
+ result.servers[name] = info.server;
+ }
+ }
+
+ return result;
+ }
+
+
+ dto::ResolveServerResult Registry::resolveServer(const dto::ResolveServerInput& input)
+ {
+ dto::ResolveServerResult result;
+ try
+ {
+ ServerInfo& info = servers.at(input.name);
+
+ result.success = true;
+ result.server = info.server;
+
+ ARMARX_DEBUG << "Resolved memory name '" << input.name << "'.";
+ }
+ catch (const std::out_of_range&)
+ {
+ result.success = false;
+ std::stringstream ss;
+ ss << "Could not resolve the memory name '" << input.name << "'."
+ << "\nServer '" << input.name << "' is not registered.";
+ result.errorMessage = ss.str();
+ }
+
+ return result;
+ }
+
+
+ server::ReadingMemoryInterfacePrx getReadingInterface(const dto::MemoryServerInterfaces& server)
+ {
+ return server.reading;
+ }
+
+
+ server::WritingMemoryInterfacePrx getWritingInterface(const dto::MemoryServerInterfaces& server)
+ {
+ return server.writing;
+ }
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/mns/Registry.h b/source/RobotAPI/libraries/armem/mns/Registry.h
new file mode 100644
index 0000000000000000000000000000000000000000..bf9348d157ee990f6032c4cf115b9fd56c70f716
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/mns/Registry.h
@@ -0,0 +1,71 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/core/Time.h>
+
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+#include <RobotAPI/interface/armem/server/ReadingMemoryInterface.h>
+#include <RobotAPI/interface/armem/server/WritingMemoryInterface.h>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+#include <map>
+#include <string>
+
+
+namespace armarx::armem::mns
+{
+
+ /**
+ * @brief A registry for memory servers.
+ */
+ class Registry : armarx::Logging
+ {
+ public:
+
+ Registry(const std::string& logTag = "MemoryNameSystem Registry");
+
+
+ /// Indicates whether a server entry for that name exists.
+ bool hasServer(const std::string& memoryName) const;
+
+
+ /**
+ * @brief Register a new memory server or update an existing entry.
+ *
+ * Causes threads waiting in `waitForMemory()` to resume if the respective
+ * memory server was added.
+ */
+ dto::RegisterServerResult registerServer(const dto::RegisterServerInput& input);
+ /**
+ * @brief Remove a server entry.
+ */
+ dto::RemoveServerResult removeServer(const dto::RemoveServerInput& input);
+
+
+ /**
+ * @brief Gets a server entry, if it is available.
+ */
+ dto::ResolveServerResult resolveServer(const dto::ResolveServerInput& input);
+
+ dto::GetAllRegisteredServersResult getAllRegisteredServers();
+
+
+ public:
+
+ /// Information about a memory entry.
+ struct ServerInfo
+ {
+ std::string name;
+ mns::dto::MemoryServerInterfaces server;
+ Time timeRegistered;
+ };
+
+ /// The registered memories.
+ std::map<std::string, ServerInfo> servers;
+
+ };
+
+
+ server::ReadingMemoryInterfacePrx getReadingInterface(const dto::MemoryServerInterfaces& server);
+ server::WritingMemoryInterfacePrx getWritingInterface(const dto::MemoryServerInterfaces& server);
+}
diff --git a/source/RobotAPI/libraries/armem/mns/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/mns/plugins/Plugin.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a2e7c5dbf3fe87d6fdf24fee0181504a5f85abe9
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/mns/plugins/Plugin.cpp
@@ -0,0 +1,8 @@
+#include "Plugin.h"
+
+
+namespace armarx::armem::mns::plugins
+{
+
+}
+
diff --git a/source/RobotAPI/libraries/armem/mns/plugins/Plugin.h b/source/RobotAPI/libraries/armem/mns/plugins/Plugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..5caa973a9ebb7025f42978c608c033ce47722074
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/mns/plugins/Plugin.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/mns/MemoryNameSystem.h>
+
+#include <ArmarXCore/core/ComponentPlugin.h>
+
+
+namespace armarx::armem::mns::plugins
+{
+
+ class Plugin : public armarx::ComponentPlugin
+ {
+ public:
+
+ using armarx::ComponentPlugin::ComponentPlugin;
+
+
+ public:
+
+ MemoryNameSystem mns;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/mns/plugins/PluginUser.cpp b/source/RobotAPI/libraries/armem/mns/plugins/PluginUser.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4ad29cdeec3c2b732cf1b9074931ab3c116fa42b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/mns/plugins/PluginUser.cpp
@@ -0,0 +1,69 @@
+#include "PluginUser.h"
+#include "Plugin.h"
+
+
+namespace armarx::armem::mns::plugins
+{
+
+ PluginUser::PluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+
+ dto::RegisterServerResult PluginUser::registerServer(const dto::RegisterServerInput& input, const Ice::Current&)
+ {
+ std::scoped_lock lock(mnsMutex);
+ dto::RegisterServerResult result = plugin->mns.registerServer(input);
+ return result;
+ }
+
+
+ dto::RemoveServerResult PluginUser::removeServer(const dto::RemoveServerInput& input, const Ice::Current&)
+ {
+ std::scoped_lock lock(mnsMutex);
+ dto::RemoveServerResult result = plugin->mns.removeServer(input);
+ return result;
+ }
+
+
+ dto::GetAllRegisteredServersResult
+ PluginUser::getAllRegisteredServers(const Ice::Current&)
+ {
+ std::scoped_lock lock(mnsMutex);
+ dto::GetAllRegisteredServersResult result = plugin->mns.getAllRegisteredServers();
+ return result;
+ }
+
+
+ dto::ResolveServerResult PluginUser::resolveServer(const dto::ResolveServerInput& input, const Ice::Current&)
+ {
+ std::scoped_lock lock(mnsMutex);
+ dto::ResolveServerResult result = plugin->mns.resolveServer(input);
+ return result;
+ }
+
+
+ // dto::WaitForServerResult PluginUser::waitForServer(const dto::WaitForServerInput& input, const Ice::Current&)
+ void PluginUser::waitForServer_async(
+ const AMD_MemoryNameSystemInterface_waitForServerPtr& future,
+ const dto::WaitForServerInput& input,
+ const Ice::Current&)
+ {
+ std::scoped_lock lock(mnsMutex);
+ plugin->mns.waitForServer_async(future, input);
+ }
+
+
+ MemoryNameSystem& PluginUser::mns()
+ {
+ return plugin->mns;
+ }
+
+
+ const MemoryNameSystem& PluginUser::mns() const
+ {
+ return plugin->mns;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/mns/plugins/PluginUser.h b/source/RobotAPI/libraries/armem/mns/plugins/PluginUser.h
new file mode 100644
index 0000000000000000000000000000000000000000..1e8134ad5d372b1d69252cdc0cf2f5916c948b1e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/mns/plugins/PluginUser.h
@@ -0,0 +1,55 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/mns/MemoryNameSystem.h>
+
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+#include <mutex>
+
+
+namespace armarx::armem::mns::plugins
+{
+ class Plugin;
+
+
+ class PluginUser :
+ virtual public ManagedIceObject
+ , virtual public mns::MemoryNameSystemInterface
+ {
+ public:
+
+ PluginUser();
+
+ // mns::MemoryNameSystemInterface interface
+ public:
+
+ dto::RegisterServerResult registerServer(const dto::RegisterServerInput& input, const Ice::Current& = Ice::emptyCurrent) override;
+ dto::RemoveServerResult removeServer(const dto::RemoveServerInput& input, const Ice::Current& = Ice::emptyCurrent) override;
+
+ dto::GetAllRegisteredServersResult getAllRegisteredServers(const Ice::Current&) override;
+
+ dto::ResolveServerResult resolveServer(const dto::ResolveServerInput& input, const Ice::Current& = Ice::emptyCurrent) override;
+
+ // Uses Asynchronous Method Dispatch (AMD)
+ void waitForServer_async(
+ const AMD_MemoryNameSystemInterface_waitForServerPtr& future,
+ const dto::WaitForServerInput& input,
+ const Ice::Current& = Ice::emptyCurrent) override;
+
+
+ protected:
+
+ std::mutex mnsMutex;
+ MemoryNameSystem& mns();
+ const MemoryNameSystem& mns() const;
+
+
+ private:
+
+ plugins::Plugin* plugin = nullptr;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp b/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
deleted file mode 100644
index 18a24d77f82baf4f07879caeb21bb52b308fdac7..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.cpp
+++ /dev/null
@@ -1,165 +0,0 @@
-#include "ComponentPlugin.h"
-
-#include "MemoryToIceAdapter.h"
-
-#include <RobotAPI/libraries/armem/core/error.h>
-
-#include <ArmarXCore/core/Component.h>
-#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-
-
-namespace armarx::armem::server::plugins
-{
- ComponentPlugin::~ComponentPlugin() = default;
-
-
- void ComponentPlugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
- {
- MemoryNameSystemComponentPlugin::postCreatePropertyDefinitions(properties);
-
- ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
- properties->topic(memoryListener, parent.memoryListenerDefaultName);
-
- properties->optional(parent.longtermMemoryEnabled, "mem.ltm.00_enabled");
- }
-
-
- void ComponentPlugin::postOnConnectComponent()
- {
- ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
-
- if (isMemoryNameSystemEnabled() && parent.memoryNameSystem)
- {
- registerMemory(parent);
- }
- parent.iceMemory.setMemoryListener(memoryListener);
-
- // establishing connection to ltm and mongodb
- if (parent.longtermMemoryEnabled)
- {
- parent.longtermMemoryManager.reload();
- }
- }
-
-
- void ComponentPlugin::preOnDisconnectComponent()
- {
- ComponentPluginUser& parent = this->parent<ComponentPluginUser>();
- if (isMemoryNameSystemEnabled() && parent.memoryNameSystem)
- {
- removeMemory(parent);
- }
- }
-
-
- data::RegisterMemoryResult ComponentPlugin::registerMemory(ComponentPluginUser& parent)
- {
- MemoryID id = MemoryID().withMemoryName(parent.workingMemory.name());
- MemoryInterfacePrx proxy = MemoryInterfacePrx::checkedCast(parent.getProxy());
- ARMARX_CHECK_NOT_NULL(proxy);
-
- data::RegisterMemoryResult result;
- try
- {
- parent.memoryNameSystem.registerServer(id, proxy);
- result.success = true;
- ARMARX_DEBUG << "Registered memory server for " << id << " in the Memory Name System (MNS).";
- }
- catch (const armem::error::ServerRegistrationOrRemovalFailed& e)
- {
- result.success = false;
- result.errorMessage = e.what();
- ARMARX_WARNING << e.what();
- }
- return result;
- }
-
-
- data::RemoveMemoryResult ComponentPlugin::removeMemory(ComponentPluginUser& parent)
- {
- MemoryID id = MemoryID().withMemoryName(parent.workingMemory.name());
-
- data::RemoveMemoryResult result;
- try
- {
- parent.memoryNameSystem.removeServer(id);
- result.success = true;
- ARMARX_DEBUG << "Removed memory server for " << id << " from the Memory Name System (MNS).";
- }
- catch (const armem::error::ServerRegistrationOrRemovalFailed& e)
- {
- result.success = false;
- result.errorMessage = e.what();
- ARMARX_WARNING << e.what();
- }
- catch (const Ice::NotRegisteredException&)
- {
- // It's ok, the MNS is gone.
- result.success = false;
- result.errorMessage = "Memory Name System is gone.";
- }
- return result;
- }
-
-}
-
-
-namespace armarx::armem::server
-{
- ComponentPluginUser::ComponentPluginUser()
- {
- addPlugin(plugin);
- }
-
- ComponentPluginUser::~ComponentPluginUser() = default;
-
- // Set the name of a memory
- void ComponentPluginUser::setMemoryName(const std::string& memoryName)
- {
- workingMemory.name() = memoryName;
- longtermMemoryManager.setName(memoryName);
- }
-
-
- // WRITING
- data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, const Ice::Current&)
- {
- ARMARX_TRACE;
- bool addCoreSegmentOnUsage = false;
- return addSegments(input, addCoreSegmentOnUsage);
- }
-
- data::AddSegmentsResult ComponentPluginUser::addSegments(const data::AddSegmentsInput& input, bool addCoreSegments)
- {
- ARMARX_TRACE;
- data::AddSegmentsResult result = iceMemory.addSegments(input, addCoreSegments);
- return result;
- }
-
-
- data::CommitResult ComponentPluginUser::commit(const data::Commit& commitIce, const Ice::Current&)
- {
- ARMARX_TRACE;
- return iceMemory.commit(commitIce);
- }
-
-
- // READING
- armem::query::data::Result ComponentPluginUser::query(const armem::query::data::Input& input, const Ice::Current&)
- {
- ARMARX_TRACE;
- return iceMemory.query(input);
- }
-
-
- // LTM STORING
- data::StoreResult ComponentPluginUser::store(const data::StoreInput& input, const Ice::Current&)
- {
- ARMARX_TRACE;
- return iceMemory.store(input);
- }
-
-
- // LTM LOADING
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h b/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
deleted file mode 100644
index f55bfc6c024922f10b84d76a52b21135db58e928..0000000000000000000000000000000000000000
--- a/source/RobotAPI/libraries/armem/server/ComponentPlugin.h
+++ /dev/null
@@ -1,127 +0,0 @@
-#pragma once
-
-#include <mutex>
-
-#include <ArmarXCore/core/ComponentPlugin.h>
-
-#include <RobotAPI/interface/armem/server/MemoryInterface.h>
-#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
-#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
-
-#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
-#include <RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.h>
-#include <RobotAPI/libraries/armem/client/MemoryNameSystemComponentPlugin.h>
-
-#include "MemoryToIceAdapter.h"
-
-
-namespace armarx::armem::server
-{
- class ComponentPluginUser;
-}
-
-
-namespace armarx::armem::server::plugins
-{
-
- class ComponentPlugin : public client::plugins::MemoryNameSystemComponentPlugin
- {
- using Base = client::plugins::MemoryNameSystemComponentPlugin;
- public:
-
- using Base::MemoryNameSystemComponentPlugin;
- virtual ~ComponentPlugin() override;
-
- void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
-
- void postOnConnectComponent() override;
- void preOnDisconnectComponent() override;
-
-
- /**
- * @brief Register the parent component in the MNS.
- * Called before onConnect() if MNS is enabled.
- */
- data::RegisterMemoryResult registerMemory(ComponentPluginUser& parent);
- /**
- * @brief Remove the parent component from the MNS.
- * Called before onDisconnect() if MNS is enabled.
- */
- data::RemoveMemoryResult removeMemory(ComponentPluginUser& parent);
-
- client::MemoryListenerInterfacePrx memoryListener;
-
- std::string longTermMemoryDatabaseHost;
- std::string longTermMemoryDatabaseUser;
- std::string longTermMemoryDatabasePassword;
- };
-
-}
-
-
-namespace armarx::armem::server
-{
-
- /**
- * @brief Base class of memory server components.
- */
- class ComponentPluginUser :
- virtual public ManagedIceObject
- , virtual public MemoryInterface
- , virtual public client::MemoryNameSystemComponentPluginUser
- {
- public:
-
- ComponentPluginUser();
- virtual ~ComponentPluginUser() override;
-
- /// Set the name of the wm and the ltm (if enabled)
- void setMemoryName(const std::string& memoryName);
-
-
- // WritingInterface interface
- virtual data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input, const Ice::Current& = Ice::emptyCurrent) override;
- data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input, bool addCoreSegments);
-
- virtual data::CommitResult commit(const data::Commit& commit, const Ice::Current& = Ice::emptyCurrent) override;
-
-
- // ReadingInterface interface
- virtual armem::query::data::Result query(const armem::query::data::Input& input, const Ice::Current& = Ice::emptyCurrent) override;
-
-
- // StoringInterface interface
- virtual data::StoreResult store(const data::StoreInput&, const Ice::Current& = Ice::emptyCurrent) override;
-
-
- // LoadingInterface interface
-
-
- public:
-
- /// The actual memory.
- server::wm::Memory workingMemory;
- // [[deprecated ("The global working memory mutex is deprecated. Use the core segment mutexes instead.")]]
- // std::mutex workingMemoryMutex;
-
- /// Parameter to indicate whether to use or not to use the ltm feature
- bool longtermMemoryEnabled = true;
-
- /// A manager class for the ltm. It internally holds a normal wm instance
- server::ltm::mongodb::MemoryManager longtermMemoryManager;
-
- /// property defaults
- std::string memoryListenerDefaultName = "MemoryUpdates";
-
- /// Helps connecting `memory` to ice. Used to handle Ice callbacks.
- MemoryToIceAdapter iceMemory { &workingMemory, &longtermMemoryManager};
-
-
- private:
-
- plugins::ComponentPlugin* plugin = nullptr;
-
- };
-
-
-}
diff --git a/source/RobotAPI/libraries/armem/server/forward_declarations.h b/source/RobotAPI/libraries/armem/server/forward_declarations.h
index 6872e2584352195ca8e587043e275acfbffb3739..d65ec0f36b9f60e680c6e720d80cd9cc3d6e789f 100644
--- a/source/RobotAPI/libraries/armem/server/forward_declarations.h
+++ b/source/RobotAPI/libraries/armem/server/forward_declarations.h
@@ -16,3 +16,7 @@ namespace armarx::armem::server::wm
class CoreSegment;
class Memory;
}
+namespace armarx::armem::server::ltm::mongodb
+{
+ class MemoryManager;
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins.h b/source/RobotAPI/libraries/armem/server/plugins.h
new file mode 100644
index 0000000000000000000000000000000000000000..9f1255994daba045756a8c90dcbcfd57a9c63a11
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "plugins/Plugin.h"
+#include "plugins/ReadOnlyPluginUser.h"
+#include "plugins/ReadWritePluginUser.h"
+
+
+namespace armarx::armem::server
+{
+ using plugins::Plugin;
+ using plugins::ReadOnlyPluginUser;
+ using plugins::ReadWritePluginUser;
+}
+
+namespace armarx::armem
+{
+ using ServerPlugin = server::Plugin;
+ using ReadOnlyServerPluginUser = server::ReadOnlyPluginUser;
+ using ReadWriteServerPluginUser = server::ReadWritePluginUser;
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..031e8fbdfe55b1024bac050b341327e6ef16e482
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.cpp
@@ -0,0 +1,125 @@
+#include "Plugin.h"
+
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/client/plugins/Plugin.h>
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+namespace armarx::armem::server::plugins
+{
+
+ Plugin::~Plugin() = default;
+
+
+ Plugin::Plugin(ManagedIceObject& parent, std::string prefix) :
+ armarx::ComponentPlugin(parent, prefix)
+ {
+ addPlugin(clientPlugin);
+ ARMARX_CHECK_NOT_NULL(clientPlugin);
+ addPluginDependency(clientPlugin);
+ }
+
+
+ void Plugin::postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties)
+ {
+ const std::string prefix = "mem.";
+ if (not workingMemory.name().empty()
+ and not properties->hasDefinition(prefix + "MemoryName"))
+ {
+ properties->optional(workingMemory.name(), prefix + "MemoryName", "Name of this memory server.");
+ }
+ properties->optional(longtermMemoryEnabled, prefix + "ltm.00_enabled");
+
+
+ // Publish memory updates topic
+ properties->topic(memoryTopic, memoryTopicDefaultName);
+ }
+
+
+ void Plugin::postOnConnectComponent()
+ {
+ Component& parent = this->parent<Component>();
+
+ if (clientPlugin->isMemoryNameSystemEnabled() and clientPlugin->getMemoryNameSystemClient())
+ {
+ registerServer(parent);
+ }
+ iceAdapter.setMemoryListener(memoryTopic);
+
+ // establishing connection to ltm and mongodb
+ if (longtermMemoryEnabled)
+ {
+ longtermMemoryManager.reload();
+ }
+ }
+
+
+ void Plugin::preOnDisconnectComponent()
+ {
+ if (clientPlugin->isMemoryNameSystemEnabled() and clientPlugin->getMemoryNameSystemClient())
+ {
+ removeServer();
+ }
+ }
+
+
+ void Plugin::setMemoryName(const std::string& memoryName)
+ {
+ workingMemory.name() = memoryName;
+ longtermMemoryManager.setName(memoryName);
+ }
+
+
+ mns::dto::RegisterServerResult Plugin::registerServer(armarx::Component& parent)
+ {
+ MemoryID id = MemoryID().withMemoryName(workingMemory.name());
+ mns::dto::MemoryServerInterfaces server;
+ server.reading = ReadingMemoryInterfacePrx::uncheckedCast(parent.getProxy());
+ server.writing = WritingMemoryInterfacePrx::uncheckedCast(parent.getProxy());
+
+ mns::dto::RegisterServerResult result;
+ try
+ {
+ clientPlugin->getMemoryNameSystemClient().registerServer(id, server);
+ result.success = true;
+ ARMARX_DEBUG << "Registered memory server for " << id << " in the Memory Name System (MNS).";
+ }
+ catch (const armem::error::ServerRegistrationOrRemovalFailed& e)
+ {
+ result.success = false;
+ result.errorMessage = e.what();
+ ARMARX_WARNING << e.what();
+ }
+ return result;
+ }
+
+
+ mns::dto::RemoveServerResult Plugin::removeServer()
+ {
+ MemoryID id = MemoryID().withMemoryName(workingMemory.name());
+
+ mns::dto::RemoveServerResult result;
+ try
+ {
+ clientPlugin->getMemoryNameSystemClient().removeServer(id);
+ result.success = true;
+ ARMARX_DEBUG << "Removed memory server for " << id << " from the Memory Name System (MNS).";
+ }
+ catch (const armem::error::ServerRegistrationOrRemovalFailed& e)
+ {
+ result.success = false;
+ result.errorMessage = e.what();
+ ARMARX_WARNING << e.what();
+ }
+ catch (const Ice::NotRegisteredException&)
+ {
+ // It's ok, the MNS is gone.
+ result.success = false;
+ result.errorMessage = "Memory Name System is gone.";
+ }
+ return result;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/Plugin.h b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..49cc07bb08dc7265fa797e2f5f77a3d81511c33c
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins/Plugin.h
@@ -0,0 +1,105 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+
+#include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
+#include <RobotAPI/libraries/armem/server/ltm/mongodb/MemoryManager.h>
+
+#include <RobotAPI/interface/armem/client/MemoryListenerInterface.h>
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+
+#include <ArmarXCore/core/ComponentPlugin.h>
+
+
+namespace armarx
+{
+ class Component;
+}
+namespace armarx::armem::client::plugins
+{
+ class Plugin;
+}
+
+namespace armarx::armem::server::plugins
+{
+
+ class Plugin :
+ public armarx::ComponentPlugin
+ {
+ public:
+
+ Plugin(ManagedIceObject& parent, std::string prefix);
+ virtual ~Plugin() override;
+
+
+ virtual void postCreatePropertyDefinitions(PropertyDefinitionsPtr& properties) override;
+
+ virtual void postOnConnectComponent() override;
+ virtual void preOnDisconnectComponent() override;
+
+
+ public:
+
+ /// Set the name of the wm and the ltm (if enabled).
+ void setMemoryName(const std::string& memoryName);
+
+
+ protected:
+
+ /**
+ * @brief Register the parent component in the MNS.
+ *
+ * Called before onConnect() if MNS is enabled.
+ */
+ mns::dto::RegisterServerResult registerServer(armarx::Component& parent);
+
+ /**
+ * @brief Remove the parent component from the MNS.
+ *
+ * Called before onDisconnect() if MNS is enabled.
+ */
+ mns::dto::RemoveServerResult removeServer();
+
+
+
+ public:
+
+ // Working Memory
+
+ /// The actual memory.
+ server::wm::Memory workingMemory;
+
+ /// Helps connecting `memory` to ice. Used to handle Ice callbacks.
+ MemoryToIceAdapter iceAdapter { &workingMemory, &longtermMemoryManager};
+
+
+ // Working Memory Updates (publishing)
+
+ std::string memoryTopicDefaultName = "MemoryUpdates";
+ client::MemoryListenerInterfacePrx memoryTopic;
+
+
+ // Long-Term Memory
+
+ /// Indicates whether to use or not to use the ltm feature.
+ bool longtermMemoryEnabled = true;
+
+ /// A manager class for the ltm. It internally holds a normal wm instance as a cache.
+ server::ltm::mongodb::MemoryManager longtermMemoryManager;
+
+ std::string longTermMemoryDatabaseHost;
+ std::string longTermMemoryDatabaseUser;
+ std::string longTermMemoryDatabasePassword;
+
+
+ private:
+
+ client::plugins::Plugin* clientPlugin;
+
+ };
+}
+
+namespace armarx::armem::server
+{
+ using plugins::Plugin;
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b95b94afb85f31efd41384283409460b706a729e
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.cpp
@@ -0,0 +1,56 @@
+#include "ReadOnlyPluginUser.h"
+#include "Plugin.h"
+
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+
+namespace armarx::armem::server::plugins
+{
+
+ ReadOnlyPluginUser::ReadOnlyPluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+
+ ReadOnlyPluginUser::~ReadOnlyPluginUser()
+ {
+ }
+
+
+ void ReadOnlyPluginUser::setMemoryName(const std::string& memoryName)
+ {
+ plugin->setMemoryName(memoryName);
+ }
+
+
+ armem::query::data::Result ReadOnlyPluginUser::query(const armem::query::data::Input& input, const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().query(input);
+ }
+
+
+ Plugin& ReadOnlyPluginUser::memoryServerPlugin()
+ {
+ return *plugin;
+ }
+
+
+ wm::Memory& ReadOnlyPluginUser::workingMemory()
+ {
+ return plugin->workingMemory;
+ }
+
+
+ MemoryToIceAdapter& ReadOnlyPluginUser::iceAdapter()
+ {
+ return plugin->iceAdapter;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h
new file mode 100644
index 0000000000000000000000000000000000000000..f56d66b0f35e173d3076dedb729a7dc77ab9bb6b
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadOnlyPluginUser.h
@@ -0,0 +1,61 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/server/forward_declarations.h>
+
+#include <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
+#include <RobotAPI/interface/armem/server/MemoryInterface.h>
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+
+namespace armarx::armem::server::plugins
+{
+
+ class Plugin;
+
+
+ /**
+ * @brief Base class of memory server components.
+ *
+ * Implements the server ice interfaces using the ice adapter of the plugin.
+ */
+ class ReadOnlyPluginUser :
+ virtual public ManagedIceObject
+ , virtual public ReadingMemoryInterface
+ , virtual public client::plugins::PluginUser
+ {
+ public:
+
+ ReadOnlyPluginUser();
+ virtual ~ReadOnlyPluginUser() override;
+
+
+ void setMemoryName(const std::string& memoryName);
+
+
+ // ReadingInterface interface
+ virtual armem::query::data::Result query(
+ const armem::query::data::Input& input,
+ const Ice::Current& = Ice::emptyCurrent) override;
+
+
+ public:
+
+ Plugin& memoryServerPlugin();
+
+ server::wm::Memory& workingMemory();
+ MemoryToIceAdapter& iceAdapter();
+
+
+ private:
+
+ plugins::Plugin* plugin = nullptr;
+
+ };
+
+}
+
+namespace armarx::armem::server
+{
+ using plugins::ReadOnlyPluginUser;
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f3da4f3ee885a2f1cda0a86ad195ae466f4fb9e5
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.cpp
@@ -0,0 +1,100 @@
+#include "ReadWritePluginUser.h"
+#include "Plugin.h"
+
+#include <RobotAPI/libraries/armem/core/error.h>
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+
+
+namespace armarx::armem::server::plugins
+{
+
+ ReadWritePluginUser::ReadWritePluginUser()
+ {
+ addPlugin(plugin);
+ }
+
+
+ ReadWritePluginUser::~ReadWritePluginUser()
+ {
+ }
+
+
+ void ReadWritePluginUser::setMemoryName(const std::string& memoryName)
+ {
+ plugin->setMemoryName(memoryName);
+ }
+
+
+ // WRITING
+ data::AddSegmentsResult ReadWritePluginUser::addSegments(const data::AddSegmentsInput& input, const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ bool addCoreSegmentOnUsage = false;
+ return addSegments(input, addCoreSegmentOnUsage);
+ }
+
+ data::AddSegmentsResult ReadWritePluginUser::addSegments(const data::AddSegmentsInput& input, bool addCoreSegments)
+ {
+ ARMARX_TRACE;
+ data::AddSegmentsResult result = iceAdapter().addSegments(input, addCoreSegments);
+ return result;
+ }
+
+
+ data::CommitResult ReadWritePluginUser::commit(const data::Commit& commitIce, const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().commit(commitIce);
+ }
+
+
+ // READING
+ armem::query::data::Result ReadWritePluginUser::query(const armem::query::data::Input& input, const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().query(input);
+ }
+
+
+ // LTM STORING
+ data::StoreResult ReadWritePluginUser::store(const data::StoreInput& input, const Ice::Current&)
+ {
+ ARMARX_TRACE;
+ return iceAdapter().store(input);
+ }
+
+
+ Plugin& ReadWritePluginUser::memoryServerPlugin()
+ {
+ return *plugin;
+ }
+
+
+ wm::Memory& ReadWritePluginUser::workingMemory()
+ {
+ return plugin->workingMemory;
+ }
+
+
+ MemoryToIceAdapter& ReadWritePluginUser::iceAdapter()
+ {
+ return plugin->iceAdapter;
+ }
+
+
+ bool ReadWritePluginUser::isLongtermMemoryEnabled()
+ {
+ return plugin->longtermMemoryEnabled;
+ }
+
+
+ ltm::mongodb::MemoryManager& ReadWritePluginUser::longtermMemoryManager()
+ {
+ return plugin->longtermMemoryManager;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
new file mode 100644
index 0000000000000000000000000000000000000000..6736224199489fb171d49b092fd91e88e59fd9b0
--- /dev/null
+++ b/source/RobotAPI/libraries/armem/server/plugins/ReadWritePluginUser.h
@@ -0,0 +1,74 @@
+#pragma once
+
+#include <RobotAPI/libraries/armem/server/forward_declarations.h>
+
+#include <RobotAPI/libraries/armem/client/plugins/ListeningPluginUser.h>
+#include <RobotAPI/interface/armem/server/MemoryInterface.h>
+
+#include <ArmarXCore/core/ManagedIceObject.h>
+
+
+namespace armarx::armem::server::plugins
+{
+
+ class Plugin;
+
+
+ /**
+ * @brief Base class of memory server components.
+ *
+ * Implements the server ice interfaces using the ice adapter of the plugin.
+ */
+ class ReadWritePluginUser :
+ virtual public ManagedIceObject
+ , virtual public MemoryInterface
+ , virtual public client::plugins::ListeningPluginUser
+ {
+ public:
+
+ ReadWritePluginUser();
+ virtual ~ReadWritePluginUser() override;
+
+
+ void setMemoryName(const std::string& memoryName);
+
+
+ // WritingInterface interface
+ virtual data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input, const Ice::Current& = Ice::emptyCurrent) override;
+ data::AddSegmentsResult addSegments(const data::AddSegmentsInput& input, bool addCoreSegments);
+
+ virtual data::CommitResult commit(const data::Commit& commit, const Ice::Current& = Ice::emptyCurrent) override;
+
+
+ // ReadingInterface interface
+ virtual armem::query::data::Result query(const armem::query::data::Input& input, const Ice::Current& = Ice::emptyCurrent) override;
+
+
+ // StoringInterface interface
+ virtual data::StoreResult store(const data::StoreInput&, const Ice::Current& = Ice::emptyCurrent) override;
+
+
+ public:
+
+ Plugin& memoryServerPlugin();
+
+ server::wm::Memory& workingMemory();
+ MemoryToIceAdapter& iceAdapter();
+
+ bool isLongtermMemoryEnabled();
+ server::ltm::mongodb::MemoryManager& longtermMemoryManager();
+
+
+ private:
+
+ plugins::Plugin* plugin = nullptr;
+
+ };
+
+}
+
+namespace armarx::armem::server
+{
+ using plugins::ReadWritePluginUser;
+}
+
diff --git a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
index c56cc1077ef852c2a92d53cb3ae24f65a3974ccd..6e2bbb30bd3d2258796da97ce8a81b24224d201e 100644
--- a/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
+++ b/source/RobotAPI/libraries/armem_gui/MemoryViewer.cpp
@@ -69,7 +69,6 @@ namespace armarx::armem::gui
processQueryResultTimer->setInterval(1000 / 60); // Keep this stable.
processQueryResultTimer->start();
-
// Memory View
memoryGroup = new armem::gui::MemoryGroupBox();
armarx::gui::replaceWidget(memoryGroupBox, memoryGroup, memoryGroupBoxParentLayout);
@@ -133,7 +132,7 @@ namespace armarx::armem::gui
void MemoryViewer::onConnect(ManagedIceObject& component)
{
- if (!mnsName.empty())
+ if (not mnsName.empty())
{
armem::mns::MemoryNameSystemInterfacePrx mnsProxy;
component.getProxy(mnsProxy, mnsName);
@@ -143,7 +142,7 @@ namespace armarx::armem::gui
memoryReaders = mns.getAllReaders(update);
}
// DebugObserver is optional (check for null on every call)
- if (!debugObserverName.empty())
+ if (not debugObserverName.empty())
{
component.getProxy(debugObserver, debugObserverName, false, "", false);
}
@@ -381,13 +380,13 @@ namespace armarx::armem::gui
const armem::wm::Memory* data = getSingleMemoryData(selectedID.memoryName);
if (data)
{
- if (!selectedID.hasEntityName())
+ if (not selectedID.hasEntityName())
{
return;
}
armem::MemoryID id = selectedID;
const armem::wm::EntitySnapshot* snapshot = nullptr;
- if (!id.hasTimestamp())
+ if (not id.hasTimestamp())
{
const armem::wm::Entity& entity = data->getEntity(id);
if (entity.empty())
@@ -397,9 +396,9 @@ namespace armarx::armem::gui
snapshot = &entity.getLatestSnapshot();
id.timestamp = snapshot->time();
}
- if (!id.hasInstanceIndex())
+ if (not id.hasInstanceIndex())
{
- if (!snapshot)
+ if (not snapshot)
{
try
{
@@ -509,7 +508,14 @@ namespace armarx::armem::gui
if (debugObserver)
{
- debugObserver->setDebugDatafield(Logging::tag.tagName, "GUI Update [ms]", new Variant(GuiUpdate.toMilliSecondsDouble()));
+ try
+ {
+ debugObserver->setDebugDatafield(Logging::tag.tagName, "GUI Update [ms]", new Variant(GuiUpdate.toMilliSecondsDouble()));
+ }
+ catch (const Ice::Exception&)
+ {
+ // Ignore ...
+ }
}
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/ImageView.cpp b/source/RobotAPI/libraries/armem_gui/instance/ImageView.cpp
index 05979fe8f669c3d0bc0cf30c7f7ea78004e49372..8c75fbd87d715add23701374643ff22d37f281ec 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/ImageView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/ImageView.cpp
@@ -13,7 +13,6 @@
* 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 ArmarX::
* @author Rainer Kartmann ( rainer dot kartmann at kit dot edu)
* @date 2021
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
diff --git a/source/RobotAPI/libraries/armem_gui/instance/ImageView.h b/source/RobotAPI/libraries/armem_gui/instance/ImageView.h
index d684bbcccc37482f358d9350ba78812e9d065cc3..4b85e093a9ef522b7d125a6a0362a98dc4e11c52 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/ImageView.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/ImageView.h
@@ -13,7 +13,6 @@
* 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 ArmarX::
* @author Rainer Kartmann ( rainer dot kartmann at kit dot edu)
* @date 2021
* @copyright http://www.gnu.org/licenses/gpl-2.0.txt
@@ -29,6 +28,9 @@
namespace armarx::armem::gui::instance
{
+ /**
+ * @brief A widget drawing an image in itself.
+ */
class ImageView : public QWidget
{
Q_OBJECT
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
index 8fda3cc4bafd3458cc76f1829466afc8f84abeb9..da6ee43303128a3a73bf8db917301c41fe4b7695 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.cpp
@@ -15,6 +15,8 @@
#include <QVBoxLayout>
#include <SimoxUtility/algorithm/string.h>
+#include <SimoxUtility/color/cmaps.h>
+#include <SimoxUtility/math/SoftMinMax.h>
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
@@ -266,6 +268,7 @@ namespace armarx::armem::gui::instance
aron::type::Descriptor type = static_cast<aron::type::Descriptor>(item->data(int(Columns::TYPE), Qt::UserRole).toInt());
switch (type)
{
+ case aron::type::Descriptor::eImage:
case aron::type::Descriptor::eIVTCByteImage:
{
if (const std::optional<aron::Path> path = getElementPath(item))
@@ -276,6 +279,26 @@ namespace armarx::armem::gui::instance
{
this->showImageView(path.value());
});
+
+ try
+ {
+ aron::datanavigator::NavigatorPtr element = currentInstance->data()->navigateAbsolute(path.value());
+ if (auto imageData = aron::datanavigator::NDArrayNavigator::DynamicCast(element))
+ {
+ const std::vector<int> shape = imageData->getDimensions();
+ if (std::find(shape.begin(), shape.end(), 0) != shape.end())
+ {
+ viewAction->setText(viewAction->text() + " (image is empty)");
+ viewAction->setEnabled(false);
+ }
+ }
+ }
+ catch (const aron::error::AronException&)
+ {
+ }
+ catch (const armarx::LocalException&)
+ {
+ }
}
}
break;
@@ -395,11 +418,11 @@ namespace armarx::armem::gui::instance
void InstanceView::showImageView(const aron::Path& elementPath)
{
- if (!currentInstance)
+ if (not currentInstance)
{
return;
}
- if (!imageView)
+ if (not imageView)
{
WidgetsWithToolbar* toolbar = new WidgetsWithToolbar();
@@ -425,15 +448,106 @@ namespace armarx::armem::gui::instance
}
+
+ QImage InstanceView::ImageView::convertDepth32ToRGB32(
+ const aron::datanavigator::NDArrayNavigator& aron)
+ {
+ const std::vector<int> shape = aron.getDimensions();
+ ARMARX_CHECK_EQUAL(shape.size(), 3);
+ ARMARX_CHECK_EQUAL(shape.at(2), 4) << "Expected Depth32 image to have 4 bytes per pixel.";
+
+ const int rows = shape.at(0);
+ const int cols = shape.at(1);
+
+ // Rendering seems to be optimized for RGB32
+ // rows go along 0 = height, cols go along 1 = width
+ QImage image(cols, rows, QImage::Format::Format_RGB32);
+ const float* data = reinterpret_cast<float*>(aron.getData());
+
+ auto updateLimits = [](float value, Limits& limits)
+ {
+ if (value > 0) // Exclude 0 from normalization (it may be only background)
+ {
+ limits.min = std::min(limits.min, value);
+ }
+ limits.max = std::max(limits.max, value);
+ };
+
+ // Find data range and adapt cmap.
+ Limits limits;
+ if (limitsHistory.empty())
+ {
+ const float* sourceRow = data;
+ for (int row = 0; row < rows; ++row)
+ {
+ for (int col = 0; col < cols; ++col)
+ {
+ float value = sourceRow[col];
+ updateLimits(value, limits);
+ }
+ sourceRow += cols;
+ }
+ cmap.set_vlimits(limits.min, limits.max);
+ }
+ // Only do it at the beginning and stop after enough samples were collected.
+ else if (limitsHistory.size() < limitsHistoryMaxSize)
+ {
+ simox::math::SoftMinMax softMin(0.25, limitsHistory.size());
+ simox::math::SoftMinMax softMax(0.25, limitsHistory.size());
+
+ for (auto& l : limitsHistory)
+ {
+ softMin.add(l.min);
+ softMax.add(l.max);
+ }
+
+ cmap.set_vlimits(softMin.getSoftMin(), softMax.getSoftMax());
+ }
+
+ // Update image
+ {
+ const float* sourceRow = data;
+
+ const int bytesPerLine = image.bytesPerLine();
+ uchar* targetRow = image.bits();
+
+ for (int row = 0; row < rows; ++row)
+ {
+ for (int col = 0; col < cols; ++col)
+ {
+ float value = sourceRow[col];
+ simox::Color color = value <= 0
+ ? simox::Color::white()
+ : cmap(value);
+ targetRow[col*4 + 0] = color.b;
+ targetRow[col*4 + 1] = color.g;
+ targetRow[col*4 + 2] = color.r;
+ targetRow[col*4 + 3] = color.a;
+
+ updateLimits(value, limits);
+ }
+ sourceRow += cols;
+ targetRow += bytesPerLine;
+ }
+ }
+ if (limitsHistory.size() < limitsHistoryMaxSize)
+ {
+ limitsHistory.push_back(limits);
+ }
+
+ return image;
+ }
+
+
void InstanceView::updateImageView(const aron::datanavigator::DictNavigatorPtr& data)
{
using aron::datanavigator::NDArrayNavigator;
- if (!imageView)
+ if (not imageView)
{
return;
}
- if (!data)
+ if (not data)
{
removeImageView();
return;
@@ -460,48 +574,92 @@ namespace armarx::armem::gui::instance
}
NDArrayNavigator::PointerType imageData = NDArrayNavigator::DynamicCast(element);
- if (!imageData)
+ if (not imageData)
{
showErrorMessage("Expected NDArrayNavigator, but got: " + simox::meta::get_type_name(element));
return;
}
- std::vector<int> shape = imageData->getDimensions();
+ const std::vector<int> shape = imageData->getDimensions();
if (shape.size() != 3)
{
showErrorMessage("Expected array shape with 3 dimensions, but got: "
+ NDArrayNavigator::DimensionsToString(shape));
return;
}
+ const int rows = shape.at(0);
+ const int cols = shape.at(1);
+
+ using aron::typenavigator::ImagePixelType;
+ std::optional<ImagePixelType> pixelType;
+ try
+ {
+ pixelType = aron::typenavigator::ImageNavigator::pixelTypeFromName(imageData->getType());
+ }
+ catch (const aron::error::AronException&)
+ {
+ }
- QImage::Format format = QImage::Format::Format_Invalid;
- switch (shape.at(2))
+ bool clearLimitsHistory = true;
+ std::optional<QImage> image;
+ if (pixelType)
+ {
+ switch (pixelType.value())
+ {
+ case ImagePixelType::Rgb24:
+ ARMARX_CHECK_EQUAL(shape.at(2), 3) << "Expected Rgb24 image to have 3 bytes per pixel.";
+ image = QImage(imageData->getData(), cols, rows, QImage::Format::Format_RGB888);
+ break;
+
+ case ImagePixelType::Depth32:
+ image = imageView->convertDepth32ToRGB32(*imageData);
+ clearLimitsHistory = false;
+ break;
+ }
+ }
+ else
{
+ QImage::Format format = QImage::Format_Invalid;
+ switch (shape.at(2))
+ {
case 1:
format = QImage::Format::Format_Grayscale8;
break;
+
case 3:
format = QImage::Format::Format_RGB888;
break;
+
default:
showErrorMessage("Expected 1 or 3 elements in last dimension, but got shape: "
+ NDArrayNavigator::DimensionsToString(shape));
return;
+ }
+ image = QImage(imageData->getData(), cols, rows, format);
}
+ ARMARX_CHECK(image.has_value());
+
std::stringstream title;
- title << "Image element '" << imageView->elementPath.toString() << "'"; // of entity instance " << currentInstance->id();
+ title << "Image element '" << imageView->elementPath.toString() << "'"; // of entity instance " << currentInstance->id();
imageView->setTitle(QString::fromStdString(title.str()));
- imageView->view->setImage(QImage(imageData->getData(), shape.at(0), shape.at(1), format));
+ imageView->view->setImage(image.value());
+
+ if (clearLimitsHistory)
+ {
+ imageView->limitsHistory.clear();
+ }
}
- InstanceView::ImageView::ImageView()
+ InstanceView::ImageView::ImageView() :
+ cmap(simox::color::cmaps::plasma().reversed()),
+ limitsHistoryMaxSize(32)
{
setLayout(new QHBoxLayout());
int margin = 2;
layout()->setContentsMargins(margin, margin, margin, margin);
- if (false)
+ if (/* DISABLES CODE */ (false))
{
QFont font = this->font();
font.setPointSizeF(font.pointSize() * 0.75);
diff --git a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
index 76a3988db8112f9b9437172710e05a900bb95f8f..ab434ba10c6084d4440f7ae2c08758f05f038ed4 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/InstanceView.h
@@ -1,10 +1,13 @@
#pragma once
#include <optional>
+#include <deque>
#include <QWidget>
#include <QGroupBox>
+#include <SimoxUtility/color/ColorMap.h>
+
#include <ArmarXCore/core/logging/Logging.h>
#include <RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h>
@@ -104,10 +107,26 @@ namespace armarx::armem::gui::instance
public:
ImageView();
+ QImage convertDepth32ToRGB32(const aron::datanavigator::NDArrayNavigator& aron);
+
instance::ImageView* view;
aron::Path elementPath;
WidgetsWithToolbar* toolbar;
+
+
+ struct Limits
+ {
+ float min = std::numeric_limits<float>::max();
+ float max = -std::numeric_limits<float>::max();
+ };
+
+ /// Color map to visualize depth images.
+ simox::ColorMap cmap;
+ /// History over first n extremal depth values used to calibrate the colormap.
+ std::deque<Limits> limitsHistory;
+ /// In this context, n.
+ const size_t limitsHistoryMaxSize;
};
ImageView* imageView = nullptr;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.cpp b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.cpp
index f41f5d4cb447e9571d5145f26af5cbff6c9db2cf..af2192c2a36de2c89fcda1caa4f556cd5781315f 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/DataDisplayVisitor.cpp
@@ -68,7 +68,8 @@ namespace armarx::aron
bool DataDisplayVisitor::visit(NDArrayDataNavigator& n)
{
- value << "shape " << aron::datanavigator::NDArrayNavigator::DimensionsToString(n.getDimensions());
+ value << "shape " << aron::datanavigator::NDArrayNavigator::DimensionsToString(n.getDimensions())
+ << ", type '" << n.getType() << "'";
return false;
}
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
index eb1cda5fd7ffd8b4b06f7286d7292e3a058cdc35..16c54007a40ad0f04d85c3bc4e9ecebcb4e74416 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.cpp
@@ -140,6 +140,14 @@ namespace armarx::aron
return false;
}
+ bool TypedDataDisplayVisitor::visit(ImageNavigator&, NDArrayDataNavigator& data)
+ {
+ // aron::typenavigator::ImagePixelType pixelType = ImageNavigator::pixelTypeFromName(data.getType());
+ //value << DataDisplayVisitor::getValue(data) << " pixel type: " << data.getType()";
+ value << DataDisplayVisitor::getValue(data);
+ return false;
+ }
+
bool TypedDataDisplayVisitor::visit(IVTCByteImageTypeNavigator&, NDArrayDataNavigator& data)
{
value << DataDisplayVisitor::getValue(data);
diff --git a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
index 87220babb8b64d78d7db6bfb1fe7cce41b070fd6..4bf2ec5d8cd149eb40ad1f9a0d3a655424183e72 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
+++ b/source/RobotAPI/libraries/armem_gui/instance/display_visitors/TypedDataDisplayVisitor.h
@@ -44,6 +44,7 @@ namespace armarx::aron
bool visit(EigenMatrixTypeNavigator&, NDArrayDataNavigator& data) override;
bool visit(EigenQuaternionTypeNavigator&, NDArrayDataNavigator& data) override;
+ bool visit(ImageNavigator&, NDArrayDataNavigator& data) override;
bool visit(IVTCByteImageTypeNavigator&, NDArrayDataNavigator& data) override;
bool visit(OpenCVMatTypeNavigator&, NDArrayDataNavigator& data) override;
bool visit(PCLPointCloudTypeNavigator&, NDArrayDataNavigator& data) override;
diff --git a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
index c548192cb7a98a390f708c8bd7789e51e63089cc..e8ece36b766dec34b3bce7325b7a62e78513bbc2 100644
--- a/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
+++ b/source/RobotAPI/libraries/armem_gui/instance/sanitize_typename.cpp
@@ -13,12 +13,6 @@ const std::string armarx::armem::gui::instance::sanitizedMemoryIDTypeName = "Mem
namespace
{
- std::string remove_prefix(const std::string& string, const std::string& prefix)
- {
- return simox::alg::starts_with(string, prefix)
- ? string.substr(prefix.size(), std::string::npos)
- : string;
- }
std::string remove_wrap(const std::string& string, const std::string& prefix, const std::string& suffix)
{
if (simox::alg::starts_with(string, prefix) && simox::alg::ends_with(string, suffix))
@@ -58,7 +52,7 @@ std::string armarx::armem::gui::instance::sanitizeTypeName(const std::string& ty
}
- n = remove_prefix(n, "Aron");
+ n = simox::alg::remove_prefix(n, "Aron");
n = remove_wrap(n, "Object<", ">");
if (true)
diff --git a/source/RobotAPI/libraries/aron/core/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
index c5282fb54aba97b583f15f2df1876c0dde3e4ead..6fb2477169dd25daf0c77564e49d2e737825ef7c 100644
--- a/source/RobotAPI/libraries/aron/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/CMakeLists.txt
@@ -45,6 +45,7 @@ set(LIB_FILES
navigator/type/ndarray/NDArray.cpp
navigator/type/ndarray/EigenMatrix.cpp
navigator/type/ndarray/EigenQuaternion.cpp
+ navigator/type/ndarray/Image.cpp
navigator/type/ndarray/IVTCByteImage.cpp
navigator/type/ndarray/OpenCVMat.cpp
navigator/type/ndarray/PCLPointCloud.cpp
@@ -102,6 +103,7 @@ set(LIB_FILES
codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
+ codegenerator/codeWriter/cpp/serializer/ndarray/Image.cpp
codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
@@ -167,6 +169,7 @@ set(LIB_HEADERS
navigator/type/ndarray/EigenMatrix.h
navigator/type/ndarray/EigenQuaternion.h
navigator/type/ndarray/IVTCByteImage.h
+ navigator/type/ndarray/Image.h
navigator/type/ndarray/OpenCVMat.h
navigator/type/ndarray/PCLPointCloud.h
navigator/type/ndarray/Position.h
@@ -248,6 +251,7 @@ set(LIB_HEADERS
codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h
codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h
+ codegenerator/codeWriter/cpp/serializer/ndarray/Image.h
codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
diff --git a/source/RobotAPI/libraries/aron/core/Config.h b/source/RobotAPI/libraries/aron/core/Config.h
index 7db99c2f1aaa298eb50f076a371677408dac113e..a8c7d0fb044619530635da4c3cb709f579fe7757 100644
--- a/source/RobotAPI/libraries/aron/core/Config.h
+++ b/source/RobotAPI/libraries/aron/core/Config.h
@@ -89,6 +89,7 @@ namespace armarx
RUN_ARON_MACRO(NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(EigenMatrix, eigenmatrix, EIGEN_MATRIX) \
RUN_ARON_MACRO(EigenQuaternion, eigenquaternion, EIGEN_QUATERNION) \
+ RUN_ARON_MACRO(Image, image, IMAGE) \
RUN_ARON_MACRO(IVTCByteImage, ivtcbyteimage, IVT_CBYTE_IMAGE) \
RUN_ARON_MACRO(OpenCVMat, opencvmat, OPENCV_MAT) \
RUN_ARON_MACRO(PCLPointCloud, pclpointcloud, PCL_POINTCLOUD) \
@@ -168,6 +169,7 @@ namespace armarx
RUN_ARON_MACRO(NDArray, ndarray, NDARRAY, NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(EigenMatrix, eigenmatrix, EIGEN_MATRIX, NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(EigenQuaternion, eigenmatrix, EIGEN_MATRIX, NDArray, ndarray, NDARRAY) \
+ RUN_ARON_MACRO(Image, image, IMAGE, NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(IVTCByteImage, ivtcbyteimage, IVT_CBYTE_IMAGE, NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(OpenCVMat, opencvmat, OPENCV_MAT, NDArray, ndarray, NDARRAY) \
RUN_ARON_MACRO(PCLPointCloud, pclpointcloud, PCL_POINTCLOUD, NDArray, ndarray, NDARRAY) \
diff --git a/source/RobotAPI/libraries/aron/core/Randomizer.h b/source/RobotAPI/libraries/aron/core/Randomizer.h
index 00f355baa9c01e66792a886b027ad4186b808016..170f4b2b8b1a471a09ff0e4cf9b51a05c1470fe7 100644
--- a/source/RobotAPI/libraries/aron/core/Randomizer.h
+++ b/source/RobotAPI/libraries/aron/core/Randomizer.h
@@ -24,8 +24,10 @@
#pragma once
// STD/STL
+#include <map>
#include <memory>
#include <numeric>
+#include <set>
// ArmarX
#include <RobotAPI/libraries/aron/core/Exception.h>
@@ -152,6 +154,12 @@ namespace armarx::aron
t->setTypename(type);
return t;
}
+ case type::Descriptor::eImage:
+ {
+ auto t = std::make_shared<typenavigator::ImageNavigator>();
+ auto type = getRandomKey(typenavigator::ImageNavigator::pixelTypeNames());
+ return t;
+ }
case type::Descriptor::eIVTCByteImage:
{
auto t = std::make_shared<typenavigator::IVTCByteImageNavigator>();
@@ -359,8 +367,8 @@ case type::Descriptor::e##upperType: \
return vec.at(i);
}
- template <class T>
- std::string getRandomKey(const std::map<std::string, T>& m) const
+ template <class ValueT>
+ std::string getRandomKey(const std::map<std::string, ValueT>& m) const
{
std::vector<std::string> keys;
for (const auto [k, _] : m)
@@ -370,6 +378,16 @@ case type::Descriptor::e##upperType: \
return getRandomElement(keys);
}
+ std::string getRandomKey(const std::set<std::string>& set) const
+ {
+ std::vector<std::string> keys;
+ for (const auto k : set)
+ {
+ keys.push_back(k);
+ }
+ return getRandomElement(keys);
+ }
+
bool fiftyPercentChance() const
{
return generateRandom(2, 0);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h
index dd01bd127edd43a72cdafa370d96b68d8ebd77fa..7e1934e88f17b309ce3117d4312557359c300c07 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/AllSerializers.h
@@ -8,6 +8,7 @@
#include "ndarray/NDArray.h"
#include "ndarray/EigenMatrix.h"
#include "ndarray/EigenQuaternion.h"
+#include "ndarray/Image.h"
#include "ndarray/IVTCByteImage.h"
#include "ndarray/OpenCVMat.h"
#include "ndarray/PCLPointCloud.h"
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
index 5169a4fcc46d3142ce61df9d717cc03942f62781..7cc42a41503cf690be9fccab82acd41b342cfb7b 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.cpp
@@ -23,21 +23,22 @@
// STD/STL
-// Header
-#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h>
+#include "Serializer.h"
+#include "SerializerFactory.h"
+
+#include <SimoxUtility/meta/type_name.h>
+#include <SimoxUtility/algorithm/string.h>
-// ArmarX
-#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/SerializerFactory.h>
namespace armarx::aron::cppserializer
{
// constantes
- const std::string Serializer::ARON_DATA_NAME = simox::meta::get_type_name(typeid(armarx::aron::data::AronData));
+ const std::string Serializer::ARON_DATA_NAME = simox::meta::get_type_name<armarx::aron::data::AronData>();
const std::string Serializer::ARON_DATA_PTR_NAME = Serializer::ARON_DATA_NAME + "::PointerType";
const std::string Serializer::READ_START_RETURN_TYPE_ACCESSOR = "_return_type";
- const std::string Serializer::ARON_TYPE_NAME = simox::meta::get_type_name(typeid(armarx::aron::type::AronType));
+ const std::string Serializer::ARON_TYPE_NAME = simox::meta::get_type_name<armarx::aron::type::AronType>();
const std::string Serializer::ARON_TYPE_PTR_NAME = Serializer::ARON_TYPE_NAME + "::PointerType";
const std::map<std::string, std::string> Serializer::ESCAPE_ACCESSORS =
@@ -263,7 +264,7 @@ namespace armarx::aron::cppserializer
}
else
{
- b->addLine("// Ressetting soft the type " + ExtractCppTypename(typenavigator));
+ b->addLine("// Resetting soft the type " + ExtractCppTypename(typenavigator));
}
switch (typenavigator->getMaybe())
@@ -310,7 +311,7 @@ namespace armarx::aron::cppserializer
}
else
{
- b->addLine("// Ressetting hard the type " + ExtractCppTypename(typenavigator));
+ b->addLine("// Resetting hard the type " + ExtractCppTypename(typenavigator));
}
switch (typenavigator->getMaybe())
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
index e7a544b8fb8342c0b83b0c27e4ecaf35e82ba933..0bee9f4be10ef71312e56e89122fc1ef100bca18 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h
@@ -23,27 +23,21 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <vector>
-#include <map>
-#include <string>
-
-// Simox
-#include <SimoxUtility/meta/type_name.h>
-#include <SimoxUtility/algorithm/string.h>
-#include <SimoxUtility/algorithm/vector.hpp>
+#include <RobotAPI/interface/aron.h>
+#include <RobotAPI/libraries/aron/core/Exception.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/Navigator.h>
-// ArmarX
#include <ArmarXCore/libraries/cppgen/CppBlock.h>
#include <ArmarXCore/libraries/cppgen/CppField.h>
#include <ArmarXCore/libraries/cppgen/CppCtor.h>
#include <ArmarXCore/libraries/cppgen/CppMethod.h>
#include <ArmarXCore/libraries/cppgen/CppClass.h>
-#include <RobotAPI/interface/aron.h>
-#include <RobotAPI/libraries/aron/core/Exception.h>
-#include <RobotAPI/libraries/aron/core/navigator/type/Navigator.h>
+#include <memory>
+#include <map>
+#include <string>
+#include <vector>
+
namespace armarx::aron::cppserializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
index f494c591c7828dbd4435a02336a03d52361620ad..4bb11ad7cafabe9d329217cf003c3b7aa82a61bd 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.cpp
@@ -24,14 +24,18 @@
// Header
#include "Dict.h"
+#include <SimoxUtility/meta/type_name.h>
+
namespace armarx::aron::cppserializer::serializer
{
// constructors
DictSerializer::DictSerializer(const typenavigator::DictNavigatorPtr& e) :
- detail::ContainerSerializerBase<typenavigator::DictNavigator, DictSerializer>("std::map<std::string, " + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">",
- simox::meta::get_type_name(typeid(data::AronDict)),
- simox::meta::get_type_name(typeid(type::AronDict)), e)
+ detail::ContainerSerializerBase<typenavigator::DictNavigator, DictSerializer>(
+ "std::map<std::string, " + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">",
+ simox::meta::get_type_name<data::AronDict>(),
+ simox::meta::get_type_name<type::AronDict>(),
+ e)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.h
index 9bd48144aeb8cdf578ac4d8c491343f539e0bcc8..a8f4734f4f5c0f0050dd9758bb9fa6e36637a2a6 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Dict.h
@@ -23,15 +23,8 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
-
-// Base Class
-#include "../detail/ContainerSerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/container/Dict.h"
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Dict.h>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h>
namespace armarx::aron::cppserializer::serializer
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
index 8483320c75efeca4c8cf573358d04d0539fb36d4..53e8bbcb28809e8a077e0724b05d26469040e875 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.cpp
@@ -24,13 +24,18 @@
// Header
#include "List.h"
+#include <SimoxUtility/meta/type_name.h>
+
+
namespace armarx::aron::cppserializer::serializer
{
// constructors
ListSerializer::ListSerializer(const typenavigator::ListNavigatorPtr& e) :
- detail::ContainerSerializerBase<typenavigator::ListNavigator, ListSerializer>("std::vector<" + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">",
- simox::meta::get_type_name(typeid(data::AronList)),
- simox::meta::get_type_name(typeid(type::AronList)), e)
+ detail::ContainerSerializerBase<typenavigator::ListNavigator, ListSerializer>(
+ "std::vector<" + FromAronTypeNaviagtorPtr(e->getAcceptedType())->getFullCppTypename() + ">",
+ simox::meta::get_type_name<data::AronList>(),
+ simox::meta::get_type_name<type::AronList>(),
+ e)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.h
index 6b8afaabeef27186acee30d0167be5f1632d1ad7..6358a08ce649a5d482d9906af861d1e5bb8841a5 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/List.h
@@ -23,15 +23,9 @@
#pragma once
-// STD/STL
-#include <string>
-#include <vector>
+#include <RobotAPI/libraries/aron/core/navigator/type/container/List.h>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h>
-// Base Class
-#include "../detail/ContainerSerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/container/List.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
index 49e06676e286dc773da88d6c12ab50062e2f1eb5..8b2bea70b9cbf9506e59fd3c56f04044400db9c7 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.cpp
@@ -24,14 +24,18 @@
// Header
#include "Object.h"
+#include <SimoxUtility/meta/type_name.h>
+
namespace armarx::aron::cppserializer::serializer
{
// constructors
ObjectSerializer::ObjectSerializer(const typenavigator::ObjectNavigatorPtr& e) :
- detail::ContainerSerializerBase<typenavigator::ObjectNavigator, ObjectSerializer>(e->getObjectName(),
- simox::meta::get_type_name(typeid(data::AronDict)),
- simox::meta::get_type_name(typeid(type::AronObject)), e)
+ detail::ContainerSerializerBase<typenavigator::ObjectNavigator, ObjectSerializer>(
+ e->getObjectName(),
+ simox::meta::get_type_name<data::AronDict>(),
+ simox::meta::get_type_name<type::AronObject>(),
+ e)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.h
index d04a44557a19b5337f8678b788c68361a7b0ff0a..222e37c166b790cc3092a2c8a4fc04f6cd5ec892 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Object.h
@@ -23,15 +23,8 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
-
-// Base Class
-#include "../detail/ContainerSerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/container/Object.h"
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
namespace armarx::aron::cppserializer::serializer
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
index c465862acc74bac36c8f9f8e1c1cbf3b341890e3..ab4013664318c76526ecbebec1ac4c90ade479a1 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.cpp
@@ -24,13 +24,17 @@
// Header
#include "Pair.h"
+#include <SimoxUtility/meta/type_name.h>
+
namespace armarx::aron::cppserializer::serializer
{
PairSerializer::PairSerializer(const typenavigator::PairNavigatorPtr& e) :
- detail::ContainerSerializerBase<typenavigator::PairNavigator, PairSerializer>("std::pair<" + ExtractCppTypename(e->getFirstAcceptedType()) + ", " + ExtractCppTypename(e->getSecondAcceptedType()) + ">",
- simox::meta::get_type_name(typeid(data::AronList)),
- simox::meta::get_type_name(typeid(type::AronPair)), e)
+ detail::ContainerSerializerBase<typenavigator::PairNavigator, PairSerializer>(
+ "std::pair<" + ExtractCppTypename(e->getFirstAcceptedType()) + ", " + ExtractCppTypename(e->getSecondAcceptedType()) + ">",
+ simox::meta::get_type_name<data::AronList>(),
+ simox::meta::get_type_name<type::AronPair>(),
+ e)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.h
index a7ef2495bcd4939820808a1298dcda92d1c9e12c..fab1eb592ceb5c0f1b373a3170f0908953545be4 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Pair.h
@@ -23,15 +23,9 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Pair.h>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h>
-// Base Class
-#include "../detail/ContainerSerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/container/Pair.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
index a6b5e2080e97d0514cbb4bbda9131adb68a3a860..188ff3a449994c71109d1fd7f1e213c78c6189f8 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.cpp
@@ -24,13 +24,17 @@
// Header
#include "Tuple.h"
+#include <SimoxUtility/meta/type_name.h>
+
namespace armarx::aron::cppserializer::serializer
{
TupleSerializer::TupleSerializer(const typenavigator::TupleNavigatorPtr& e) :
- detail::ContainerSerializerBase<typenavigator::TupleNavigator, TupleSerializer>("std::tuple<" + simox::alg::join(ExtractCppTypenames(e->getAcceptedTypes()), ", ") + ">",
- simox::meta::get_type_name(typeid(data::AronList)),
- simox::meta::get_type_name(typeid(type::AronTuple)), e)
+ detail::ContainerSerializerBase<typenavigator::TupleNavigator, TupleSerializer>(
+ "std::tuple<" + simox::alg::join(ExtractCppTypenames(e->getAcceptedTypes()), ", ") + ">",
+ simox::meta::get_type_name<data::AronList>(),
+ simox::meta::get_type_name<type::AronTuple>(),
+ e)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.h
index d8ec0bf428b98cc8290600b7556fc503d4acf5ee..e8039607eedb467608482459770e40a345d74157 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/container/Tuple.h
@@ -23,15 +23,9 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Tuple.h>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h>
-// Base Class
-#include "../detail/ContainerSerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/container/Tuple.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h
index d2ca8f77efce232d34c15c7d9f7cd24513a46f53..baf4be57effcf3bff72b53ad4bf5a668ee471990 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/ContainerSerializerBase.h
@@ -23,15 +23,8 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <string>
-#include <unordered_map>
-
-// Base class
#include "SerializerBase.h"
-// ArmarX
namespace armarx::aron::cppserializer::detail
{
@@ -40,9 +33,8 @@ namespace armarx::aron::cppserializer::detail
public SerializerBase<TypenavigatorT, DerivedT>
{
public:
- ContainerSerializerBase(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, const typename TypenavigatorT::PointerType& t) :
- SerializerBase<TypenavigatorT, DerivedT>(cppName, aronDataTypename, aronTypeTypename, t)
- {
- }
+
+ using SerializerBase<TypenavigatorT, DerivedT>::SerializerBase;
+
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h
index f0af4cfdd143da41629057e68a1291643b079eec..7acb76328abdc2be4ee0b08577e546900c4e3d46 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h
@@ -23,15 +23,8 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <string>
-#include <unordered_map>
-
-// Base class
#include "SerializerBase.h"
-// ArmarX
namespace armarx::aron::cppserializer::detail
{
@@ -40,7 +33,12 @@ namespace armarx::aron::cppserializer::detail
public SerializerBase<TypenavigatorT, DerivedT>
{
public:
- NDArraySerializerBase(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, const typename TypenavigatorT::PointerType& t) :
+
+ NDArraySerializerBase(
+ const std::string& cppName,
+ const std::string& aronDataTypename,
+ const std::string& aronTypeTypename,
+ const typename TypenavigatorT::PointerType& t) :
SerializerBase<TypenavigatorT, DerivedT>(cppName, aronDataTypename, aronTypeTypename, t)
{}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h
index cf84eec049e341a83318dd3544fca0684e64236a..b20979f807c42981c0f9de6bf3106506424f9ea0 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h
@@ -23,15 +23,10 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <string>
-#include <unordered_map>
-
-// Base class
#include "SerializerBase.h"
-// ArmarX
+#include <string>
+
namespace armarx::aron::cppserializer::detail
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h
index 4b2dd5f8918bf0859b9e577d58dcd357a2fe7e37..92fde748539283fa35cb3ab858155d3e4f88d154 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h
@@ -23,15 +23,11 @@
#pragma once
-// STD/STL
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/Serializer.h>
+
#include <memory>
#include <string>
-#include <unordered_map>
-
-// Base class
-#include "../Serializer.h"
-// ArmarX
namespace armarx::aron::cppserializer::detail
{
@@ -44,7 +40,11 @@ namespace armarx::aron::cppserializer::detail
using TypenavigatorType = TypenavigatorT;
public:
- SerializerBase(const std::string& cppName, const std::string& aronDataTypename, const std::string& aronTypeTypename, const typename TypenavigatorType::PointerType& t) :
+ SerializerBase(
+ const std::string& cppName,
+ const std::string& aronDataTypename,
+ const std::string& aronTypeTypename,
+ const typename TypenavigatorType::PointerType& t) :
Serializer(cppName, aronDataTypename, aronTypeTypename),
typenavigator(t)
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
index 2ae444db3f04f48865dc7e9842d5ae521e17cd0b..dc00ff9b0271b310b91be4656721eb6ed98039b1 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.cpp
@@ -24,13 +24,18 @@
// Header
#include "IntEnum.h"
+#include <SimoxUtility/meta/type_name.h>
+
+
namespace armarx::aron::cppserializer::serializer
{
// constructors
IntEnumSerializer::IntEnumSerializer(const typenavigator::IntEnumNavigatorPtr& e) :
- detail::SerializerBase<typenavigator::IntEnumNavigator, IntEnumSerializer>(e->getEnumName(),
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronIntEnum)), e)
+ detail::SerializerBase<typenavigator::IntEnumNavigator, IntEnumSerializer>(
+ e->getEnumName(),
+ simox::meta::get_type_name<data::AronNDArray>(),
+ simox::meta::get_type_name<type::AronIntEnum>(),
+ e)
{
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.h
index af290bfe03f46cd5faa5cad4e218a6e3f5bd9e65..ce5feac09dcd1c2d802b176cb2d553d48adf7170 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/enum/IntEnum.h
@@ -23,15 +23,11 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
-
-// Base Class
-#include "../detail/SerializerBase.h"
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.h>
-// ArmarX
-#include "../../../../../navigator/type/enum/IntEnum.h"
+#include <map>
+#include <string>
namespace armarx::aron::cppserializer::serializer
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
index c59e70d713528f0db11d4bf0d2212f3f3b53de77..54a4668819869c3305d79a98531cd8cdd348bf14 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.cpp
@@ -24,6 +24,9 @@
// Header
#include "EigenMatrix.h"
+#include <SimoxUtility/meta/type_name.h>
+
+
namespace armarx::aron::cppserializer::serializer
{
@@ -40,13 +43,27 @@ namespace armarx::aron::cppserializer::serializer
// constructors
EigenMatrixSerializer::EigenMatrixSerializer(const typenavigator::EigenMatrixNavigatorPtr& n) :
- detail::NDArraySerializerBase<typenavigator::EigenMatrixNavigator, EigenMatrixSerializer>("Eigen::Matrix<" + ACCEPTED_TYPES.at(n->getTypename()).first + ", " + std::to_string(n->getRows()) + ", " + std::to_string(n->getCols()) + ">",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronEigenMatrix)), n)
+ detail::NDArraySerializerBase<typenavigator::EigenMatrixNavigator, EigenMatrixSerializer>(
+ "Eigen::Matrix<" + ACCEPTED_TYPES.at(n->getTypename()).first + ", " + std::to_string(n->getRows()) + ", " + std::to_string(n->getCols()) + ">",
+ simox::meta::get_type_name<data::AronNDArray>(),
+ simox::meta::get_type_name<type::AronEigenMatrix>(),
+ n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
+ CppBlockPtr EigenMatrixSerializer::getResetHardBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block = std::make_shared<CppBlock>();
+ block->addLine(accessor + ".setZero();");
+ return this->ResolveMaybeResetHardBlock(accessor, block, this->typenavigator);
+ }
+
+ CppBlockPtr EigenMatrixSerializer::getResetSoftBlock(const std::string& accessor) const
+ {
+ return getResetHardBlock(accessor);
+ }
+
CppBlockPtr EigenMatrixSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h
index 13e435bfeed1161f6a349eae2507828b6a39a31c..1885efb76b1b53ab533d83fd4b071592fa040aeb 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenMatrix.h
@@ -23,20 +23,14 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenMatrix.h>
-// Base Class
-#include "../detail/NDArraySerializerBase.h"
+#include <map>
-// ArmarX
-#include "../../../../../navigator/type/ndarray/EigenMatrix.h"
namespace armarx::aron::cppserializer::serializer
{
- class EigenMatrixSerializer;
- typedef std::shared_ptr<EigenMatrixSerializer> EigenMatrixSerializerPtr;
class EigenMatrixSerializer :
virtual public detail::NDArraySerializerBase<typenavigator::EigenMatrixNavigator, EigenMatrixSerializer>
@@ -46,6 +40,8 @@ namespace armarx::aron::cppserializer::serializer
EigenMatrixSerializer(const typenavigator::EigenMatrixNavigatorPtr&);
// virtual implementations
+ virtual CppBlockPtr getResetHardBlock(const std::string&) const override;
+ virtual CppBlockPtr getResetSoftBlock(const std::string&) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
index 6594fd20bc9d0915cfb95ed45a1fe821f44a58eb..41e3faf1bd3797cc721b27bfa49e0b70740c76b2 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.cpp
@@ -24,6 +24,9 @@
// Header
#include "EigenQuaternion.h"
+#include <SimoxUtility/meta/type_name.h>
+
+
namespace armarx::aron::cppserializer::serializer
{
@@ -35,13 +38,27 @@ namespace armarx::aron::cppserializer::serializer
// constructors
EigenQuaternionSerializer::EigenQuaternionSerializer(const typenavigator::EigenQuaternionNavigatorPtr& n) :
- detail::NDArraySerializerBase<typenavigator::EigenQuaternionNavigator, EigenQuaternionSerializer>("Eigen::Quaternion<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronEigenQuaternion)), n)
+ detail::NDArraySerializerBase<typenavigator::EigenQuaternionNavigator, EigenQuaternionSerializer>(
+ "Eigen::Quaternion<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">",
+ simox::meta::get_type_name<data::AronNDArray>(),
+ simox::meta::get_type_name<type::AronEigenQuaternion>(),
+ n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
+ CppBlockPtr EigenQuaternionSerializer::getResetHardBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block = std::make_shared<CppBlock>();
+ block->addLine(accessor + ".setIdentity();");
+ return this->ResolveMaybeResetHardBlock(accessor, block, this->typenavigator);
+ }
+
+ CppBlockPtr EigenQuaternionSerializer::getResetSoftBlock(const std::string& accessor) const
+ {
+ return getResetHardBlock(accessor);
+ }
+
CppBlockPtr EigenQuaternionSerializer::getWriteTypeBlock(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h
index 9a42c8cf67b3c67f9cb5664bd69a8ae2fc8d24dd..8f471d8f3e2570d51fac512d14b1b06bbbed692d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/EigenQuaternion.h
@@ -23,33 +23,29 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
-// Base Class
-#include "../detail/NDArraySerializerBase.h"
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/EigenQuaternion.h>
+
+#include <map>
-// ArmarX
-#include "../../../../../navigator/type/ndarray/EigenQuaternion.h"
namespace armarx::aron::cppserializer::serializer
{
- class EigenQuaternionSerializer;
- typedef std::shared_ptr<EigenQuaternionSerializer> EigenQuaternionSerializerPtr;
-
class EigenQuaternionSerializer :
virtual public detail::NDArraySerializerBase<typenavigator::EigenQuaternionNavigator, EigenQuaternionSerializer>
{
public:
- using PointerType = EigenQuaternionSerializerPtr;
+ using PointerType = std::shared_ptr<EigenQuaternionSerializer>;
public:
// constructors
EigenQuaternionSerializer(const typenavigator::EigenQuaternionNavigatorPtr&);
// virtual implementations
+ virtual CppBlockPtr getResetHardBlock(const std::string&) const override;
+ virtual CppBlockPtr getResetSoftBlock(const std::string&) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
index 4a986761bd57f9b7b2a2810fab8c19e5ffb43067..94e7bfe85af077cfaa9c69aa5b8a51869f7b5c60 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.cpp
@@ -24,6 +24,9 @@
// Header
#include "IVTCByteImage.h"
+#include <SimoxUtility/meta/type_name.h>
+
+
namespace armarx::aron::cppserializer::serializer
{
@@ -36,9 +39,11 @@ namespace armarx::aron::cppserializer::serializer
// constructors
IVTCByteImageSerializer::IVTCByteImageSerializer(const typenavigator::IVTCByteImageNavigatorPtr& n) :
- detail::NDArraySerializerBase<typenavigator::IVTCByteImageNavigator, IVTCByteImageSerializer>("CByteImage",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronIVTCByteImage)), n)
+ detail::NDArraySerializerBase<typenavigator::IVTCByteImageNavigator, IVTCByteImageSerializer>(
+ "CByteImage",
+ simox::meta::get_type_name<data::AronNDArray>(),
+ simox::meta::get_type_name<type::AronIVTCByteImage>(),
+ n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
if (typenavigator->getMaybe() == type::Maybe::eNone or typenavigator->getMaybe() == type::Maybe::eOptional)
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
index 1be69bdef6815d3c09f7d0cf16a06d2dda5cd81e..3e978ca5f69441e960e2b221f3a06779d0f1d7b7 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/IVTCByteImage.h
@@ -23,15 +23,11 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/IVTCByteImage.h>
-// Base Class
-#include "../detail/NDArraySerializerBase.h"
+#include <map>
-// ArmarX
-#include "../../../../../navigator/type/ndarray/IVTCByteImage.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Image.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Image.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..771ffb4f301fb705b19474f5a9c28ef8da5e3395
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Image.cpp
@@ -0,0 +1,261 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * 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 Rainer Kartmann (rainer dot kartmann at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+// Header
+#include "Image.h"
+
+#include <SimoxUtility/meta/type_name.h>
+
+
+namespace armarx::aron::cppserializer::serializer
+{
+
+ const std::map<typenavigator::ImagePixelType, std::string>
+ ImageSerializer::pixelTypeMap =
+ {
+ { typenavigator::ImagePixelType::Rgb24, "CV_8UC3" },
+ { typenavigator::ImagePixelType::Depth32, "CV_32FC1"},
+ };
+
+
+ // constructors
+ ImageSerializer::ImageSerializer(const typenavigator::ImageNavigatorPtr& n) :
+ detail::NDArraySerializerBase<typenavigator::ImageNavigator, ImageSerializer>(
+ "cv::Mat",
+ simox::meta::get_type_name<data::AronNDArray>(),
+ simox::meta::get_type_name<type::AronImage>(),
+ n)
+ {
+ ARMARX_CHECK_NOT_NULL(typenavigator);
+ }
+
+
+ CppBlockPtr ImageSerializer::getResetHardBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
+
+ std::string typeConstant;
+ {
+ if (auto it = pixelTypeMap.find(typenavigator->getPixelType()); it != pixelTypeMap.end())
+ {
+ typeConstant = it->second;
+ }
+ else
+ {
+ std::stringstream ss;
+ ss << "Pixel type '" << static_cast<int>(typenavigator->getPixelType()) << "' "
+ << "is not mapped to an OpenCV pixel type.";
+ throw error::AronException("ImageSerializer", __FUNCTION__, ss.str());
+ }
+ }
+
+ block_if_data->addLine(accessor + ".create(0, 0, " + typeConstant + ");");
+ return this->ResolveMaybeResetHardBlock(accessor, block_if_data, this->typenavigator);
+ }
+
+
+ CppBlockPtr ImageSerializer::getResetSoftBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
+
+ block_if_data->addLine(accessor + " = 0;");
+
+ return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
+ }
+
+
+ CppBlockPtr ImageSerializer::getWriteTypeBlock(const std::string& accessor) const
+ {
+ CppBlockPtr b = std::make_shared<CppBlock>();
+
+ std::string typeName;
+ switch (typenavigator->getPixelType())
+ {
+#define CASE( typeConstant ) \
+case typeConstant : \
+ typeName = "::armarx::aron::typenavigator::ImageNavigator::pixelTypeToName( " #typeConstant " )"; \
+ break;
+
+ CASE(::armarx::aron::typenavigator::ImagePixelType::Rgb24)
+ CASE(::armarx::aron::typenavigator::ImagePixelType::Depth32)
+
+#undef CASE
+ }
+
+ b->addLine("w.writeImage({" + typeName + ", " + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
+ return b;
+ }
+
+
+ CppBlockPtr ImageSerializer::getWriteBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block = std::make_shared<CppBlock>();
+
+ std::string escaped_accessor = EscapeAccessor(accessor);
+ std::string accessor_shape = "shape";
+
+ block->addLine("std::vector<int> " + accessor_shape + "(" + accessor + ".size.p, " + accessor + ".size.p + " + accessor + ".dims);");
+ block->addLine(accessor_shape + ".push_back(" + accessor + nextEl() + "elemSize());");
+
+
+#if 0 // Target code:
+ std::string type;
+ switch (the_depth32_image.type())
+ {
+ case CV_8UC3:
+ type = ::armarx::aron::typenavigator::ImageNavigator::pixelTypeToName(::armarx::aron::typenavigator::ImagePixelType::RGB24);
+ break;
+ case CV_32FC1:
+ type = ::armarx::aron::typenavigator::ImageNavigator::pixelTypeToName(::armarx::aron::typenavigator::ImagePixelType::DEPTH32);
+ break;
+ default:
+ {
+ std::stringstream ss;
+ ss << "OpenCV image type " << the_depth32_image.type() << " cannot be serialized.";
+ throw ::armarx::aron::error::AronException("ImageTest", __FUNCTION__, ss.str());
+ }
+ }
+#endif
+
+ block->addLine("std::string arrayType;");
+ block->addLine("switch (" + accessor + ".type())");
+ {
+ CppBlockPtr block_switch = std::make_shared<CppBlock>();
+
+#define CASE( typeConstant ) \
+ block_switch->addLine("case " + pixelTypeMap.at(typeConstant) + ":"); \
+ block_switch->addLine("arrayType = ::armarx::aron::typenavigator::ImageNavigator::pixelTypeToName(" #typeConstant ");"); \
+ block_switch->addLine("break;")
+
+ CASE(::armarx::aron::typenavigator::ImagePixelType::Rgb24);
+ CASE(::armarx::aron::typenavigator::ImagePixelType::Depth32);
+
+#undef CASE
+
+ block_switch->addLine("default:");
+ {
+ CppBlockPtr block_default = std::make_shared<CppBlock>();
+ block_default->addLine("std::stringstream ss;");
+ block_default->addLine("ss << \"OpenCV image type \" << " + accessor + ".type() << \" cannot be serialized.\";");
+ block_default->addLine("throw ::armarx::aron::error::AronException(\"" + typenavigator->getName() + "\", __FUNCTION__, ss.str());");
+
+ block_switch->addBlock(block_default);
+ }
+ block->addBlock(block_switch);
+ }
+
+
+ block->addLine("w.writeNDArray(" + accessor_shape + ", arrayType, reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data)); // of " + accessor);
+
+ return ResolveMaybeWriteBlock(accessor, block, typenavigator);
+ }
+
+
+ CppBlockPtr ImageSerializer::getReadBlock(const std::string& accessor) const
+ {
+ const std::string escaped_accessor = EscapeAccessor(accessor);
+ const std::string read_start_result_accessor = escaped_accessor + READ_START_RETURN_TYPE_ACCESSOR;
+
+#if 0 // Target code
+ auto the_rgb24_image_return_type = r.readStartNDArray(); // of the_rgb24_image
+
+ if (!the_rgb24_image_return_type.dims.empty())
+ {
+ std::vector<int> shape{the_rgb24_image_return_type.dims.begin(), std::prev(the_rgb24_image_return_type.dims.end())};
+
+ ::armarx::aron::typenavigator::ImagePixelType pixelType = ::armarx::aron::typenavigator::ImageNavigator::pixelTypeFromName(the_rgb24_image_return_type.type);
+ int cvMatType = 0;
+ switch (pixelType)
+ {
+ case ::armarx::aron::typenavigator::ImagePixelType::RGB24:
+ cvMatType = CV_8UC3;
+ case ::armarx::aron::typenavigator::ImagePixelType::DEPTH32:
+ cvMatType = CV_32FC1;
+ default:
+ {
+ std::stringstream ss;
+ ss << "NDArray Type '" << the_rgb24_image_return_type.type << "' cannot be deserialized as image.";
+ throw ::armarx::aron::error::AronException("AronImageType", __FUNCTION__, ss.str());
+ }
+ }
+
+ the_rgb24_image.create(shape, cvMatType);
+ r.readEndNDArray(reinterpret_cast<unsigned char*>(the_rgb24_image.data)); // of the_rgb24_image
+ }
+#endif
+
+ CppBlockPtr block = std::make_shared<CppBlock>();
+
+ block->addLine("if (!" + read_start_result_accessor + ".dims.empty())");
+ {
+ CppBlockPtr block_if = std::make_shared<CppBlock>();
+
+ block_if->addLine("std::vector<int> shape{" + read_start_result_accessor + ".dims.begin(), std::prev(" + read_start_result_accessor + ".dims.end())};");
+
+ block_if->addLine("::armarx::aron::typenavigator::ImagePixelType pixelType = ::armarx::aron::typenavigator::ImageNavigator::pixelTypeFromName(" + read_start_result_accessor + ".type);");
+ block_if->addLine("int cvMatType = 0;");
+ block_if->addLine("switch (pixelType)");
+ {
+ CppBlockPtr block_switch = std::make_shared<CppBlock>();
+
+#define CASE( typeConstant ) \
+ block_switch->addLine("case " #typeConstant ":"); \
+ block_switch->addLine("cvMatType = " + pixelTypeMap.at(typeConstant) + ";"); \
+ block_switch->addLine("break;")
+
+ CASE(::armarx::aron::typenavigator::ImagePixelType::Rgb24);
+ CASE(::armarx::aron::typenavigator::ImagePixelType::Depth32);
+
+#undef CASE
+
+ block_switch->addLine("default:");
+ {
+ CppBlockPtr block_default = std::make_shared<CppBlock>();
+ block_default->addLine("std::stringstream ss;");
+ block_default->addLine("ss << \"NdArray Type '\" << " + read_start_result_accessor + ".type << \"' cannot be deserialized as image.\";");
+ block_default->addLine("throw ::armarx::aron::error::AronException(\"AronImageType\", __FUNCTION__, ss.str());");
+
+ block_switch->addBlock(block_default);
+ }
+ block_if->addBlock(block_switch);
+ }
+
+ block_if->addLine(accessor + ".create(shape, cvMatType);");
+ block_if->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data)); // of " + accessor);
+ block->addBlock(block_if);
+ }
+
+ return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block, typenavigator, true);
+ }
+
+
+ CppBlockPtr ImageSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
+ {
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
+ block_if_data->addLine("if (cv::countNonZero(" + accessor + " != " + otherInstanceAccessor + ") != 0)");
+ block_if_data->addLineAsBlock("return false;");
+ return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
+ }
+}
+
+
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Image.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Image.h
new file mode 100644
index 0000000000000000000000000000000000000000..a44cafbe199c352576c1307d6cdcd20debb3f871
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Image.h
@@ -0,0 +1,67 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * 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 Rainer Kartmann (rainer dot kartmann at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/Image.h>
+
+#include <map>
+#include <memory>
+#include <string>
+
+
+namespace armarx::aron::cppserializer::serializer
+{
+
+ class ImageSerializer :
+ virtual public detail::NDArraySerializerBase<typenavigator::ImageNavigator, ImageSerializer>
+ {
+ public:
+ using PointerType = std::shared_ptr<ImageSerializer>;
+
+ public:
+
+ ImageSerializer(const typenavigator::ImageNavigatorPtr& n);
+
+ // virtual implementations
+ virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
+ virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
+ virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
+ virtual CppBlockPtr getWriteBlock(const std::string&) const override;
+ virtual CppBlockPtr getReadBlock(const std::string&) const override;
+ virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
+
+
+ private:
+
+ static constexpr const char* ITERATOR_ACCESSOR = "_iterator";
+ static constexpr const char* SHAPE_ACCESSOR = "_shape";
+ static constexpr const char* NDIM_ACCESSOR = "_ndim";
+
+ /// Maps ARON pixel types to OpenCV image type constants.
+ static const std::map<typenavigator::ImagePixelType, std::string> pixelTypeMap;
+
+ };
+
+}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
index dfd9e90c390c358aa1aba0fa6af2c3f843f6013a..f9597ff4540e02bb7aba3e7ecf990467d88ae8be 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.cpp
@@ -24,13 +24,18 @@
// Header
#include "NDArray.h"
+#include <SimoxUtility/meta/type_name.h>
+
+
namespace armarx::aron::cppserializer::serializer
{
// constructors
NDArraySerializer::NDArraySerializer(const typenavigator::NDArrayNavigatorPtr& n) :
- detail::NDArraySerializerBase<typenavigator::NDArrayNavigator, NDArraySerializer>("NDArray",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronNDArray)), n)
+ detail::NDArraySerializerBase<typenavigator::NDArrayNavigator, NDArraySerializer>(
+ "NDArray",
+ simox::meta::get_type_name<data::AronNDArray>(),
+ simox::meta::get_type_name<type::AronNDArray>(),
+ n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
index 540b38d930ec9a2911c8bb058b856031cc430683..6e6a72f01b84db55c6b059a74c16eb59aaa27b2d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/NDArray.h
@@ -23,15 +23,11 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/NDArray.h>
-// Base Class
-#include "../detail/NDArraySerializerBase.h"
+#include <string>
-// ArmarX
-#include "../../../../../navigator/type/ndarray/NDArray.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
index 37de66674278dc5a8439a2b06d3e634dab7e42ba..0528b58b4efd7a05484c376c6dc85d722f536459 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.cpp
@@ -24,54 +24,86 @@
// Header
#include "OpenCVMat.h"
+#include <SimoxUtility/meta/type_name.h>
+
+
namespace armarx::aron::cppserializer::serializer
{
const std::map<std::string, std::pair<std::string, int>> OpenCVMatSerializer::ACCEPTED_TYPES =
{
- {"CV_8U", {"CV_8U", 1}},
- {"CV_8S", {"CV_8S", 1}},
- {"CV_16U", {"CV_16U", 2}},
- {"CV_16S", {"CV_16S", 2}},
- {"CV_32S", {"CV_32S", 4}},
- {"CV_32F", {"CV_32F", 4}},
- {"CV_64F", {"CV_64F", 8}},
+ { "8u", {"CV_8U", 1}},
+ { "8s", {"CV_8S", 1}},
+ {"16u", {"CV_16U", 2}},
+ {"16s", {"CV_16S", 2}},
+ {"32s", {"CV_32S", 4}},
+ {"32f", {"CV_32F", 4}},
+ {"64f", {"CV_64F", 8}},
};
// constructors
OpenCVMatSerializer::OpenCVMatSerializer(const typenavigator::OpenCVMatNavigatorPtr& n) :
- detail::NDArraySerializerBase<typenavigator::OpenCVMatNavigator, OpenCVMatSerializer>("cv::Mat",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronOpenCVMat)), n)
+ detail::NDArraySerializerBase<typenavigator::OpenCVMatNavigator, OpenCVMatSerializer>(
+ "cv::Mat",
+ simox::meta::get_type_name<data::AronNDArray>(),
+ simox::meta::get_type_name<type::AronOpenCVMat>(),
+ n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
- std::pair<CppBlockPtr, std::string> OpenCVMatSerializer::getDimensionsFromAccessor(const std::string& accessor) const
+ std::pair<CppBlockPtr, std::string> OpenCVMatSerializer::getShapeFromAccessor(const std::string& accessor) const
{
CppBlockPtr b = CppBlockPtr(new CppBlock());
std::string escaped_accessor = EscapeAccessor(accessor);
- std::string accessor_dimensions = escaped_accessor + DIMENSION_ACCESSOR;
+ std::string accessor_shape = escaped_accessor + SHAPE_ACCESSOR;
std::string accessor_iterator = escaped_accessor + ITERATOR_ACCESSOR;
- b->addLine("std::vector<int> " + accessor_dimensions + ";");
+ b->addLine("std::vector<int> " + accessor_shape + ";");
b->addLine("for (int " + accessor_iterator + " = 0; " + accessor_iterator + " < " + accessor + nextEl() + "dims; ++" + accessor_iterator + ")");
CppBlockPtr b2 = CppBlockPtr(new CppBlock());
- b2->addLine(accessor_dimensions + ".push_back(" + accessor + nextEl() + "size[" + accessor_iterator + "]);");
+ b2->addLine(accessor_shape + ".push_back(" + accessor + nextEl() + "size[" + accessor_iterator + "]);");
b->addBlock(b2);
- return {b, accessor_dimensions};
+ return {b, accessor_shape};
}
+
+ CppBlockPtr OpenCVMatSerializer::getResetHardBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+
+ std::string sizes;
+ {
+ const std::vector<int> shape = typenavigator->getShape();
+ sizes = simox::alg::join(simox::alg::multi_to_string(shape), ", ");
+ sizes = "std::vector<int>{ " + sizes + " }";
+ }
+ std::string type = typenavigator->getTypeName();
+ {
+ type = simox::alg::to_lower(type);
+ type = simox::alg::remove_prefix(type, "cv_");
+ if (auto it = ACCEPTED_TYPES.find(type); it != ACCEPTED_TYPES.end())
+ {
+ type = it->second.first;
+ }
+ }
+
+ block_if_data->addLine(accessor + " = " + this->getFullTypenameGenerator()
+ + "(" + sizes + ", " + type + ");");
+ return this->ResolveMaybeResetHardBlock(accessor, block_if_data, this->typenavigator);
+ }
+
+
CppBlockPtr OpenCVMatSerializer::getResetSoftBlock(const std::string& accessor) const
{
CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
- auto [get_dim_block, accessor_dimensions] = getDimensionsFromAccessor(accessor);
+ auto [get_dim_block, accessor_shape] = getShapeFromAccessor(accessor);
block_if_data->appendBlock(get_dim_block);
- block_if_data->addLine("if (!" + accessor_dimensions + ".empty())");
+ block_if_data->addLine("if (!" + accessor_shape + ".empty())");
CppBlockPtr b2 = CppBlockPtr(new CppBlock());
- b2->addLine(accessor + " = " + getFullCppTypename() + "(" + accessor_dimensions + ", " + accessor + nextEl() + "type());");
+ b2->addLine(accessor + " = " + getFullCppTypename() + "(" + accessor_shape + ", " + accessor + nextEl() + "type());");
block_if_data->addBlock(b2);
return ResolveMaybeResetSoftBlock(accessor, block_if_data, typenavigator);
@@ -90,10 +122,10 @@ namespace armarx::aron::cppserializer::serializer
std::string escaped_accessor = EscapeAccessor(accessor);
- auto [get_dim_block, accessor_dimensions] = getDimensionsFromAccessor(accessor);
+ auto [get_dim_block, accessor_shape] = getShapeFromAccessor(accessor);
block_if_data->appendBlock(get_dim_block);
- block_if_data->addLine(accessor_dimensions + ".push_back(" + accessor + nextEl() + "elemSize());");
- block_if_data->addLine("w.writeNDArray(" + accessor_dimensions + ", std::to_string(" + accessor + nextEl() + "type()), reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data)); // of " + accessor);
+ block_if_data->addLine(accessor_shape + ".push_back(" + accessor + nextEl() + "elemSize());");
+ block_if_data->addLine("w.writeNDArray(" + accessor_shape + ", std::to_string(" + accessor + nextEl() + "type()), reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data)); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
index 27ec677b25d20dab8d2e966ac6e0065ad1db98dd..08aacde0f0d11e47cd8cca3ae17057928bf2daf3 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/OpenCVMat.h
@@ -23,33 +23,30 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h>
-// Base Class
-#include "../detail/NDArraySerializerBase.h"
+#include <map>
+#include <memory>
+#include <string>
+#include <utility> // std::pair
-// ArmarX
-#include "../../../../../navigator/type/ndarray/OpenCVMat.h"
namespace armarx::aron::cppserializer::serializer
{
- class OpenCVMatSerializer;
- typedef std::shared_ptr<OpenCVMatSerializer> AronOpenCVMatTypeCppSerializerPtr;
-
class OpenCVMatSerializer :
virtual public detail::NDArraySerializerBase<typenavigator::OpenCVMatNavigator, OpenCVMatSerializer>
{
public:
- using PointerType = AronOpenCVMatTypeCppSerializerPtr;
+ using PointerType = std::shared_ptr<OpenCVMatSerializer>;
public:
// constructors
OpenCVMatSerializer(const typenavigator::OpenCVMatNavigatorPtr& n);
// virtual implementations
+ virtual CppBlockPtr getResetHardBlock(const std::string& accessor) const override;
virtual CppBlockPtr getResetSoftBlock(const std::string& accessor) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
@@ -57,13 +54,14 @@ namespace armarx::aron::cppserializer::serializer
virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
private:
- std::pair<CppBlockPtr, std::string> getDimensionsFromAccessor(const std::string& accessor) const;
+ std::pair<CppBlockPtr, std::string> getShapeFromAccessor(const std::string& accessor) const;
private:
// members
static const std::map<std::string, std::pair<std::string, int>> ACCEPTED_TYPES;
static constexpr const char* ITERATOR_ACCESSOR = "_iterator";
- static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
- static constexpr const char* NUM_DIMENSION_ACCESSOR = "_num_dimensions";
+ static constexpr const char* SHAPE_ACCESSOR = "_shape";
+ static constexpr const char* NDIM_ACCESSOR = "_ndim";
};
+
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
index c908a0c44a8b0d1d940b9a64be5e79558b1dc949..1bd39c73c977b6cf4da7a7de01b3346083c7c742 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.cpp
@@ -24,27 +24,44 @@
// Header
#include "Orientation.h"
+#include <SimoxUtility/meta/type_name.h>
+
+
namespace armarx::aron::cppserializer::serializer
{
// constructors
OrientationSerializer::OrientationSerializer(const typenavigator::OrientationNavigatorPtr& n) :
- detail::NDArraySerializerBase<typenavigator::OrientationNavigator, OrientationSerializer>("Eigen::Quaternion<" + n->ACCEPTED_TYPE + ">",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronOrientation)), n)
+ detail::NDArraySerializerBase<typenavigator::OrientationNavigator, OrientationSerializer>(
+ "Eigen::Quaternion<" + n->ACCEPTED_TYPE + ">",
+ simox::meta::get_type_name<data::AronNDArray>(),
+ simox::meta::get_type_name<type::AronOrientation>(),
+ n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
+ CppBlockPtr OrientationSerializer::getResetHardBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block = std::make_shared<CppBlock>();
+ block->addLine(accessor + ".setIdentity();");
+ return this->ResolveMaybeResetHardBlock(accessor, block, this->typenavigator);
+ }
+
+ CppBlockPtr OrientationSerializer::getResetSoftBlock(const std::string& accessor) const
+ {
+ return getResetHardBlock(accessor);
+ }
+
CppBlockPtr OrientationSerializer::getWriteTypeBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("w.writeOrientation({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
CppBlockPtr OrientationSerializer::getWriteBlock(const std::string& accessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "coeffs().data())); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
@@ -52,14 +69,14 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr OrientationSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "coeffs().data())); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr OrientationSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h
index ece7bb620a16d40184518585ed0b0592a8264639..b4851e4bc6806fc60b157302a7bfc53adc6a110a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Orientation.h
@@ -23,39 +23,32 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/Orientation.h>
-// Base Class
-#include "../detail/NDArraySerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/ndarray/Orientation.h"
namespace armarx::aron::cppserializer::serializer
{
- class OrientationSerializer;
- typedef std::shared_ptr<OrientationSerializer> AronOrientationTypeCppSerializerPtr;
class OrientationSerializer :
virtual public detail::NDArraySerializerBase<typenavigator::OrientationNavigator, OrientationSerializer>
{
public:
- using PointerType = AronOrientationTypeCppSerializerPtr;
+ using PointerType = std::shared_ptr<class OrientationSerializer>;
public:
+
// constructors
OrientationSerializer(const typenavigator::OrientationNavigatorPtr&);
// virtual implementations
+ virtual CppBlockPtr getResetHardBlock(const std::string&) const override;
+ virtual CppBlockPtr getResetSoftBlock(const std::string&) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
- private:
- static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
- static constexpr const char* TYPE_ACCESSOR = "_type";
};
+
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
index 5a6155b230e3fd5267ef30dcf665ca60df97ab1f..2e0234f3aff59d141988304448c128717bd9476d 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.cpp
@@ -24,6 +24,9 @@
// Header
#include "PCLPointCloud.h"
+#include <SimoxUtility/meta/type_name.h>
+
+
namespace armarx::aron::cppserializer::serializer
{
@@ -41,9 +44,11 @@ namespace armarx::aron::cppserializer::serializer
// constructors
PCLPointCloudSerializer::PCLPointCloudSerializer(const typenavigator::PCLPointCloudNavigatorPtr& n) :
- detail::NDArraySerializerBase<typenavigator::PCLPointCloudNavigator, PCLPointCloudSerializer>("pcl::PointCloud<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronPCLPointCloud)), n)
+ detail::NDArraySerializerBase<typenavigator::PCLPointCloudNavigator, PCLPointCloudSerializer>(
+ "pcl::PointCloud<" + ACCEPTED_TYPES.at(n->getTypename()).first + ">",
+ simox::meta::get_type_name<data::AronNDArray>(),
+ simox::meta::get_type_name<type::AronPCLPointCloud>(),
+ n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
index 3f182f4e24f775166a4e64d12f8933fffa771fc6..a0692c64ef06e92875ad66079f871fecc211d0fe 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/PCLPointCloud.h
@@ -23,15 +23,11 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/PCLPointCloud.h>
-// Base Class
-#include "../detail/NDArraySerializerBase.h"
+#include <map>
-// ArmarX
-#include "../../../../../navigator/type/ndarray/PCLPointCloud.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
index eccbbca04eeeced4c106707d5963222f0250db54..b6be09e9f94b972f23e226a6dc8cbd64e11c6040 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.cpp
@@ -24,27 +24,44 @@
// Header
#include "Pose.h"
+#include <SimoxUtility/meta/type_name.h>
+
+
namespace armarx::aron::cppserializer::serializer
{
// constructors
PoseSerializer::PoseSerializer(const typenavigator::PoseNavigatorPtr& n) :
- detail::NDArraySerializerBase<typenavigator::PoseNavigator, PoseSerializer>("Eigen::Matrix<" + n->ACCEPTED_TYPE + ", " + simox::alg::to_string(n->ACCEPTED_DIMENSION, ", ") + ">",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronPose)), n)
+ detail::NDArraySerializerBase<typenavigator::PoseNavigator, PoseSerializer>(
+ "Eigen::Matrix<" + n->ACCEPTED_TYPE + ", " + simox::alg::to_string(n->ACCEPTED_DIMENSION, ", ") + ">",
+ simox::meta::get_type_name<data::AronNDArray>(),
+ simox::meta::get_type_name<type::AronPose>(),
+ n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
+ CppBlockPtr PoseSerializer::getResetHardBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block = std::make_shared<CppBlock>();
+ block->addLine(accessor + ".setIdentity();");
+ return this->ResolveMaybeResetHardBlock(accessor, block, this->typenavigator);
+ }
+
+ CppBlockPtr PoseSerializer::getResetSoftBlock(const std::string& accessor) const
+ {
+ return getResetHardBlock(accessor);
+ }
+
CppBlockPtr PoseSerializer::getWriteTypeBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("w.writePose({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
CppBlockPtr PoseSerializer::getWriteBlock(const std::string& accessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data())); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
@@ -52,14 +69,14 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr PoseSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data())); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr PoseSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h
index 45b8eb78c64e62a2ea7713ac977c9fb3e675de05..195a04015ea58ae14b419dcda0bf163981cecff6 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Pose.h
@@ -23,39 +23,29 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/Pose.h>
-// Base Class
-#include "../detail/NDArraySerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/ndarray/Pose.h"
namespace armarx::aron::cppserializer::serializer
{
- class PoseSerializer;
- typedef std::shared_ptr<PoseSerializer> AronPoseTypeCppSerializerPtr;
-
class PoseSerializer :
virtual public detail::NDArraySerializerBase<typenavigator::PoseNavigator, PoseSerializer>
{
public:
- using PointerType = AronPoseTypeCppSerializerPtr;
+ using PointerType = std::shared_ptr<PoseSerializer>;
public:
// constructors
PoseSerializer(const typenavigator::PoseNavigatorPtr&);
// virtual implementations
+ virtual CppBlockPtr getResetHardBlock(const std::string&) const override;
+ virtual CppBlockPtr getResetSoftBlock(const std::string&) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
- private:
- static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
- static constexpr const char* TYPE_ACCESSOR = "_type";
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
index 199c7e3053af9cc84016d14a320092667ce87c71..6c9e54ecd0a074cc1c56a63f090fc56c06152004 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.cpp
@@ -24,27 +24,44 @@
// Header
#include "Position.h"
+#include <SimoxUtility/meta/type_name.h>
+
+
namespace armarx::aron::cppserializer::serializer
{
// constructors
PositionSerializer::PositionSerializer(const typenavigator::PositionNavigatorPtr& n) :
- detail::NDArraySerializerBase<typenavigator::PositionNavigator, PositionSerializer>("Eigen::Matrix<" + n->ACCEPTED_TYPE + ", " + simox::alg::to_string(n->ACCEPTED_DIMENSION, ", ") + ">",
- simox::meta::get_type_name(typeid(data::AronNDArray)),
- simox::meta::get_type_name(typeid(type::AronPosition)), n)
+ detail::NDArraySerializerBase<typenavigator::PositionNavigator, PositionSerializer>(
+ "Eigen::Matrix<" + n->ACCEPTED_TYPE + ", " + simox::alg::to_string(n->ACCEPTED_DIMENSION, ", ") + ">",
+ simox::meta::get_type_name<data::AronNDArray>(),
+ simox::meta::get_type_name<type::AronPosition>(),
+ n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
+ CppBlockPtr PositionSerializer::getResetHardBlock(const std::string& accessor) const
+ {
+ CppBlockPtr block = std::make_shared<CppBlock>();
+ block->addLine(accessor + ".setZero();");
+ return this->ResolveMaybeResetHardBlock(accessor, block, this->typenavigator);
+ }
+
+ CppBlockPtr PositionSerializer::getResetSoftBlock(const std::string& accessor) const
+ {
+ return getResetHardBlock(accessor);
+ }
+
CppBlockPtr PositionSerializer::getWriteTypeBlock(const std::string& accessor) const
{
- CppBlockPtr b = CppBlockPtr(new CppBlock());
+ CppBlockPtr b = std::make_shared<CppBlock>();
b->addLine("w.writePosition({" + MAYBE_TO_STRING(typenavigator->getMaybe()) + "}); // of " + accessor);
return b;
}
CppBlockPtr PositionSerializer::getWriteBlock(const std::string& accessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
block_if_data->addLine("w.writeNDArray({" + simox::alg::to_string(typenavigator->ACCEPTED_DIMENSION, ", ") + ", 4}, \"" + typenavigator->ACCEPTED_TYPE + "\", reinterpret_cast<const unsigned char*>(" + accessor + nextEl() + "data())); // of " + accessor);
return ResolveMaybeWriteBlock(accessor, block_if_data, typenavigator);
@@ -52,14 +69,14 @@ namespace armarx::aron::cppserializer::serializer
CppBlockPtr PositionSerializer::getReadBlock(const std::string& accessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
block_if_data->addLine("r.readEndNDArray(reinterpret_cast<unsigned char*>(" + accessor + nextEl() + "data())); // of " + accessor);
return ResolveMaybeReadBlock(accessor, "r.readStartNDArray()", block_if_data, typenavigator);
}
CppBlockPtr PositionSerializer::getEqualsBlock(const std::string& accessor, const std::string& otherInstanceAccessor) const
{
- CppBlockPtr block_if_data = CppBlockPtr(new CppBlock());
+ CppBlockPtr block_if_data = std::make_shared<CppBlock>();
block_if_data->addLine("if (not (" + accessor + nextEl() + "isApprox(" + otherInstanceAccessor + ")))");
block_if_data->addLineAsBlock("return false;");
return ResolveMaybeEqualsBlock(accessor, otherInstanceAccessor, block_if_data, typenavigator);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h
index acb8f9912f8169b161ccd5b6d80c30e546b7ec75..61026f4617401bdc64393c4e813c3fd535dce301 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/ndarray/Position.h
@@ -23,39 +23,30 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/NDArraySerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/ndarray/Position.h>
-// Base Class
-#include "../detail/NDArraySerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/ndarray/Position.h"
namespace armarx::aron::cppserializer::serializer
{
- class PositionSerializer;
- typedef std::shared_ptr<PositionSerializer> AronPositionTypeCppSerializerPtr;
class PositionSerializer :
virtual public detail::NDArraySerializerBase<typenavigator::PositionNavigator, PositionSerializer>
{
public:
- using PointerType = AronPositionTypeCppSerializerPtr;
+ using PointerType = std::shared_ptr<PositionSerializer>;
public:
// constructors
PositionSerializer(const typenavigator::PositionNavigatorPtr&);
// virtual implementations
+ virtual CppBlockPtr getResetHardBlock(const std::string&) const override;
+ virtual CppBlockPtr getResetSoftBlock(const std::string&) const override;
virtual CppBlockPtr getWriteTypeBlock(const std::string&) const override;
virtual CppBlockPtr getWriteBlock(const std::string&) const override;
virtual CppBlockPtr getReadBlock(const std::string&) const override;
virtual CppBlockPtr getEqualsBlock(const std::string&, const std::string&) const override;
- private:
- static constexpr const char* DIMENSION_ACCESSOR = "_dimensions";
- static constexpr const char* TYPE_ACCESSOR = "_type";
};
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.cpp
index c0bb65832b4bda3aaea920efd48fc19b98d752f3..33283bde524169ec20e01bd659de94547b662212 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.cpp
@@ -21,19 +21,20 @@
* GNU General Public License
*/
+#include "Bool.h"
-// STD/STL
-#include <string>
-#include <map>
+#include <SimoxUtility/meta/type_name.h>
-// Header
-#include "Bool.h"
namespace armarx::aron::cppserializer::serializer
{
/* constructors */
BoolSerializer::BoolSerializer(const typenavigator::BoolNavigatorPtr& e) :
- detail::PrimitiveSerializerBase<typenavigator::BoolNavigator, BoolSerializer>("bool", simox::meta::get_type_name(typeid(data::AronBool)), simox::meta::get_type_name(typeid(type::AronBool)), e)
+ detail::PrimitiveSerializerBase<typenavigator::BoolNavigator, BoolSerializer>(
+ "bool",
+ simox::meta::get_type_name<data::AronBool>(),
+ simox::meta::get_type_name<type::AronBool>(),
+ e)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.h
index ba1dd70de0220840e9feda9d18304d631142ae06..688aeb2d365a5e785e575050f8e01983b3211e9e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Bool.h
@@ -23,14 +23,9 @@
#pragma once
-// STD/STL
-#include <string>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/primitive/Bool.h>
-// Base Class
-#include "../detail/PrimitiveSerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/primitive/Bool.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.cpp
index 62a47a280f4bfea571384b30d9674fa08d8aa801..c7bbce2eebe2367b83ce5d63a4b7b77b1da7acc6 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.cpp
@@ -21,19 +21,20 @@
* GNU General Public License
*/
+#include "Double.h"
-// STD/STL
-#include <string>
-#include <map>
+#include <SimoxUtility/meta/type_name.h>
-// Header
-#include "Double.h"
namespace armarx::aron::cppserializer::serializer
{
/* constructors */
DoubleSerializer::DoubleSerializer(const typenavigator::DoubleNavigatorPtr& e) :
- detail::PrimitiveSerializerBase<typenavigator::DoubleNavigator, DoubleSerializer>("double", simox::meta::get_type_name(typeid(data::AronDouble)), simox::meta::get_type_name(typeid(type::AronDouble)), e)
+ detail::PrimitiveSerializerBase<typenavigator::DoubleNavigator, DoubleSerializer>(
+ "double",
+ simox::meta::get_type_name<data::AronDouble>(),
+ simox::meta::get_type_name<type::AronDouble>(),
+ e)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.h
index 6a965e2034d3924b842634d7dbb8219467a17294..b8258a0b028ac020c61af412d402599367587e6a 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Double.h
@@ -23,14 +23,9 @@
#pragma once
-// STD/STL
-#include <string>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/primitive/Double.h>
-// Base Class
-#include "../detail/PrimitiveSerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/primitive/Double.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.cpp
index 06cbd8c1a4304f095fc85887060f696335b05f55..34593db2f5b0b7fd7113395d79233b2a9c93b6d4 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.cpp
@@ -21,19 +21,20 @@
* GNU General Public License
*/
+#include "Float.h"
-// STD/STL
-#include <string>
-#include <map>
+#include <SimoxUtility/meta/type_name.h>
-// Header
-#include "Float.h"
namespace armarx::aron::cppserializer::serializer
{
/* constructors */
FloatSerializer::FloatSerializer(const typenavigator::FloatNavigatorPtr& e) :
- detail::PrimitiveSerializerBase<typenavigator::FloatNavigator, FloatSerializer>("float", simox::meta::get_type_name(typeid(data::AronFloat)), simox::meta::get_type_name(typeid(type::AronFloat)), e)
+ detail::PrimitiveSerializerBase<typenavigator::FloatNavigator, FloatSerializer>(
+ "float",
+ simox::meta::get_type_name<data::AronFloat>(),
+ simox::meta::get_type_name<type::AronFloat>(),
+ e)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.h
index b2139ed2a368912adba187220a84fb6565b760ee..835ebc61264b9dbb636e12a9469a0deff0bf1e90 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Float.h
@@ -23,14 +23,9 @@
#pragma once
-// STD/STL
-#include <string>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/primitive/Float.h>
-// Base Class
-#include "../detail/PrimitiveSerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/primitive/Float.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.cpp
index 7458faa2858bd545c77d9c7014556632bdc0c196..84299f5843002d822eae0845f748a9ecf4e491f9 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.cpp
@@ -21,19 +21,20 @@
* GNU General Public License
*/
+#include "Int.h"
-// STD/STL
-#include <string>
-#include <map>
+#include <SimoxUtility/meta/type_name.h>
-// Header
-#include "Int.h"
namespace armarx::aron::cppserializer::serializer
{
/* constructors */
IntSerializer::IntSerializer(const typenavigator::IntNavigatorPtr& e) :
- detail::PrimitiveSerializerBase<typenavigator::IntNavigator, IntSerializer>("int", simox::meta::get_type_name(typeid(data::AronInt)), simox::meta::get_type_name(typeid(type::AronInt)), e)
+ detail::PrimitiveSerializerBase<typenavigator::IntNavigator, IntSerializer>(
+ "int",
+ simox::meta::get_type_name<data::AronInt>(),
+ simox::meta::get_type_name<type::AronInt>(),
+ e)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.h
index 7bb6311bdd60de2374a11b37741070da3e8c737a..6d26dc8e63f6372a2e0210816f9addb394af0294 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Int.h
@@ -23,14 +23,9 @@
#pragma once
-// STD/STL
-#include <string>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/primitive/Int.h>
-// Base Class
-#include "../detail/PrimitiveSerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/primitive/Int.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.cpp
index 754f4818ddd5f08dc224a62ebfbb95cf89e1673a..2d6f466342a6747688180245f2892284ea956196 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.cpp
@@ -21,19 +21,20 @@
* GNU General Public License
*/
+#include "Long.h"
-// STD/STL
-#include <string>
-#include <map>
+#include <SimoxUtility/meta/type_name.h>
-// Header
-#include "Long.h"
namespace armarx::aron::cppserializer::serializer
{
/* constructors */
LongSerializer::LongSerializer(const typenavigator::LongNavigatorPtr& e) :
- detail::PrimitiveSerializerBase<typenavigator::LongNavigator, LongSerializer>("long", simox::meta::get_type_name(typeid(data::AronLong)), simox::meta::get_type_name(typeid(type::AronLong)), e)
+ detail::PrimitiveSerializerBase<typenavigator::LongNavigator, LongSerializer>(
+ "long",
+ simox::meta::get_type_name<data::AronLong>(),
+ simox::meta::get_type_name<type::AronLong>(),
+ e)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.h
index 5d0d0948ee029b6d5718f9ee740f7ae2b0d99533..227c91bfded830f5744c35ddd3ab39ad79897775 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Long.h
@@ -23,14 +23,9 @@
#pragma once
-// STD/STL
-#include <string>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/primitive/Long.h>
-// Base Class
-#include "../detail/PrimitiveSerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/primitive/Long.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.cpp
index 89e3603ee8afcb7ca786097d391c21e4478b3bb3..4246e1157739f62934d58f1037dcc4098aa52fdc 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.cpp
@@ -21,19 +21,20 @@
* GNU General Public License
*/
+#include "String.h"
-// STD/STL
-#include <string>
-#include <map>
+#include <SimoxUtility/meta/type_name.h>
-// Header
-#include "String.h"
namespace armarx::aron::cppserializer::serializer
{
/* constructors */
StringSerializer::StringSerializer(const typenavigator::StringNavigatorPtr& e) :
- detail::PrimitiveSerializerBase<typenavigator::StringNavigator, StringSerializer>("std::string", simox::meta::get_type_name(typeid(data::AronString)), simox::meta::get_type_name(typeid(type::AronString)), e)
+ detail::PrimitiveSerializerBase<typenavigator::StringNavigator, StringSerializer>(
+ "std::string",
+ simox::meta::get_type_name<data::AronString>(),
+ simox::meta::get_type_name<type::AronString>(),
+ e)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.h
index d6bc43272efabf2b93a55bce3eec77e68274afd4..59bf310ccdac6edc8a14fe2fd4e07d9fa610f371 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/String.h
@@ -23,14 +23,9 @@
#pragma once
-// STD/STL
-#include <string>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/primitive/String.h>
-// Base Class
-#include "../detail/PrimitiveSerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/primitive/String.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.cpp
index e76d5e1ba97eea373fa1eb9af90ec1f3dc5838cf..a44838e4a29a2705cf4ddf16da1b479827f5ad46 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.cpp
@@ -21,19 +21,20 @@
* GNU General Public License
*/
+#include "Time.h"
-// STD/STL
-#include <string>
-#include <map>
+#include <SimoxUtility/meta/type_name.h>
-// Header
-#include "Time.h"
namespace armarx::aron::cppserializer::serializer
{
/* constructors */
TimeSerializer::TimeSerializer(const typenavigator::TimeNavigatorPtr& e) :
- detail::PrimitiveSerializerBase<typenavigator::TimeNavigator, TimeSerializer>("IceUtil::Time", simox::meta::get_type_name(typeid(data::AronLong)), simox::meta::get_type_name(typeid(type::AronTime)), e)
+ detail::PrimitiveSerializerBase<typenavigator::TimeNavigator, TimeSerializer>(
+ "IceUtil::Time",
+ simox::meta::get_type_name<data::AronLong>(),
+ simox::meta::get_type_name<type::AronTime>(),
+ e)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
}
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.h
index ff06aff3e934bd23aa52d6b86bf3f45a403bf1ef..96b0322c0ab8a1b45d74a1560ec08ba5d3c9db14 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/primitive/Time.h
@@ -23,14 +23,9 @@
#pragma once
-// STD/STL
-#include <string>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/PrimitiveSerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/primitive/Time.h>
-// Base Class
-#include "../detail/PrimitiveSerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/primitive/Time.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
index 39f178fd00661fe78478ee3e74fe0872b2e762a5..0db5f2d68e1de29da18c9327a5b25ee5bd834bc5 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.cpp
@@ -24,11 +24,18 @@
// Header
#include "IntEnumClass.h"
+#include <SimoxUtility/meta/type_name.h>
+
+
namespace armarx::aron::cppserializer::serializer
{
// constructors
IntEnumClassSerializer::IntEnumClassSerializer(const typenavigator::IntEnumNavigatorPtr& n) :
- detail::SerializerBase<typenavigator::IntEnumNavigator, IntEnumClassSerializer>(n->getEnumName(), simox::meta::get_type_name(typeid(data::AronNDArray)), simox::meta::get_type_name(typeid(type::AronIntEnum)), n)
+ detail::SerializerBase<typenavigator::IntEnumNavigator, IntEnumClassSerializer>(
+ n->getEnumName(),
+ simox::meta::get_type_name<data::AronNDArray>(),
+ simox::meta::get_type_name<type::AronIntEnum>(),
+ n)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
if (typenavigator->getMaybe() != type::Maybe::eNone)
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
index 8bc3ce9e21e220fc34c710b7bb5a7da59521dd60..bd4a0f8128b19bbe28b388e3fa97faddf8f743b1 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/IntEnumClass.h
@@ -23,15 +23,12 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/enum/IntEnum.h>
-// Base Class
-#include "../detail/SerializerBase.h"
+#include <map>
+#include <utility> // std::pair
-// ArmarX
-#include "../../../../../navigator/type/enum/IntEnum.h"
namespace armarx::aron::cppserializer::serializer
{
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
index 7653acba47e178b6337f8fbc9602037070b76836..f5f62b9215ebd3904405184605d6d5df9fc1298e 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.cpp
@@ -24,12 +24,18 @@
// Header
#include "ObjectClass.h"
+#include <SimoxUtility/meta/type_name.h>
+
namespace armarx::aron::cppserializer::serializer
{
// constructors
ObjectClassSerializer::ObjectClassSerializer(const typenavigator::ObjectNavigatorPtr& e) :
- detail::SerializerBase<typenavigator::ObjectNavigator, ObjectClassSerializer>(e->getObjectName(), simox::meta::get_type_name(typeid(data::AronDict)), simox::meta::get_type_name(typeid(type::AronObject)), e)
+ detail::SerializerBase<typenavigator::ObjectNavigator, ObjectClassSerializer>(
+ e->getObjectName(),
+ simox::meta::get_type_name<data::AronDict>(),
+ simox::meta::get_type_name<type::AronObject>(),
+ e)
{
ARMARX_CHECK_NOT_NULL(typenavigator);
if (typenavigator->getMaybe() != type::Maybe::eNone)
@@ -143,7 +149,8 @@ namespace armarx::aron::cppserializer::serializer
child_b->addLine("w.writeKey(\"" + key + "\");");
child_b->appendBlock(child_s->getWriteBlock(key));
- block_if_data->appendBlock(child_b);
+ block_if_data->addBlock(child_b);
+ block_if_data->addLine("");
}
block_if_data->addLine("if (!__aronExtends)");
@@ -167,7 +174,7 @@ namespace armarx::aron::cppserializer::serializer
{
const auto child_s = FromAronTypeNaviagtorPtr(child);
block_if_data->addLine("r.loadMember(\"" + key + "\");");
- block_if_data->appendBlock(child_s->getReadBlock(key));
+ block_if_data->addBlock(child_s->getReadBlock(key));
}
block_if_data->addLine("r.readEndDict(); // of top level object " + getCoreCppTypename());
return ResolveMaybeReadBlock(accessor, "", block_if_data, typenavigator);
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h
index 03f8817a5c4e64dfbf15e9a54e8e0f6ae88f4ff3..3a7a314aa14113990d9d4aad5303b21f153c674c 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/toplevel/ObjectClass.h
@@ -23,15 +23,8 @@
#pragma once
-// STD/STL
-#include <string>
-#include <map>
-
-// Base Class
-#include "../detail/SerializerBase.h"
-
-// ArmarX
-#include "../../../../../navigator/type/container/Object.h"
+#include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/serializer/detail/SerializerBase.h>
+#include <RobotAPI/libraries/aron/core/navigator/type/container/Object.h>
namespace armarx::aron::cppserializer::serializer
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
index 695050d69d765585b3192e9a2874c721afe8693c..c67f5c1b4845bdc838c33300c92722343f831bba 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/Data.h
@@ -74,6 +74,7 @@ namespace armarx::aron::xmltypereader
static constexpr const char* ROWS_ATTRIBUTE_NAME = "rows";
static constexpr const char* COLS_ATTRIBUTE_NAME = "cols";
static constexpr const char* DIMENSIONS_ATTRIBUTE_NAME = "dimensions";
+ static constexpr const char* SHAPE_ATTRIBUTE_NAME = "shape";
static constexpr const char* OPTIONAL_NAME = "optional";
static constexpr const char* RAW_PTR_NAME = "raw_ptr";
static constexpr const char* SHARED_PTR_NAME = "shared_ptr";
diff --git a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
index 42c4ae9eea4efcd7dc3688164aec22bb49507959..e9795175ad11e15872b4f40594b328e50d5b99b1 100644
--- a/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
+++ b/source/RobotAPI/libraries/aron/core/codegenerator/typeReader/xml/ReaderFactory.cpp
@@ -289,15 +289,6 @@ namespace armarx::aron::xmltypereader
{
return nullptr;
}
-
- // Complex type (IVTCByteImage)
- typenavigator::NavigatorPtr IVTCByteImageReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
- {
- Data::EnforceTagName(node, Data::GENERATE_IVT_CBYTE_IMAGE_MEMBER_TAG);
- typenavigator::IVTCByteImageNavigatorPtr complex(new typenavigator::IVTCByteImageNavigator(path));
- return complex;
- }
-
// Complex type (EigenMatrix)
typenavigator::NavigatorPtr EigenMatrixReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
{
@@ -328,12 +319,52 @@ namespace armarx::aron::xmltypereader
return complex;
}
+
+ typenavigator::NavigatorPtr ImageReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_IMAGE_MEMBER_TAG);
+
+ typenavigator::ImageNavigatorPtr complex = std::make_shared<typenavigator::ImageNavigator>(path);
+ complex->setPixelType(node.attribute_value("pixelType"));
+
+ return complex;
+ }
+
+ // Complex type (IVTCByteImage)
+ typenavigator::NavigatorPtr IVTCByteImageReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
+ {
+ Data::EnforceTagName(node, Data::GENERATE_IVT_CBYTE_IMAGE_MEMBER_TAG);
+ typenavigator::IVTCByteImageNavigatorPtr complex(new typenavigator::IVTCByteImageNavigator(path));
+ return complex;
+ }
+
+
+
// Complex type (OpenCVMat)
typenavigator::NavigatorPtr OpenCVMatReaderFactory::createSpecific(const RapidXmlReaderNode& node, const Path& path) const
{
Data::EnforceTagName(node, Data::GENERATE_OPENCV_MAT_MEMBER_TAG);
typenavigator::OpenCVMatNavigatorPtr complex(new typenavigator::OpenCVMatNavigator(path));
+
+ std::vector<int> shape;
+ {
+ std::string shapeStr = node.attribute_value(Data::SHAPE_ATTRIBUTE_NAME);
+ const bool trim = true, removeEmpty = false;
+ std::vector<std::string> split = simox::alg::split(shapeStr, ",", trim, removeEmpty);
+ shape.reserve(split.size());
+ for (const std::string& entry : split)
+ {
+ // What happens if this throws an error?
+ int size = std::stoi(entry);
+ shape.push_back(size);
+ }
+ }
+ complex->setShape(shape);
+
+ std::string typeName = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);
+ complex->setTypeName(typeName);
+
return complex;
}
@@ -342,7 +373,7 @@ namespace armarx::aron::xmltypereader
{
Data::EnforceTagName(node, Data::GENERATE_PCL_POINTCLOUD_MEMBER_TAG);
Data::EnforceAttribute(node, Data::TYPE_ATTRIBUTE_NAME);
- std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);;
+ std::string type = node.attribute_value(Data::TYPE_ATTRIBUTE_NAME);
typenavigator::PCLPointCloudNavigatorPtr complex(new typenavigator::PCLPointCloudNavigator(path));
complex->setTypename(type);
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp
index 6c95ec35b8eb3c7ce42bf6cbc74c0c56adc68829..d5e2ebe0fe9eb12a834bef86cd673faa41369912 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.cpp
@@ -161,7 +161,8 @@ namespace armarx::aron::dataIO::reader
auto casted = datanavigator::NDArrayNavigator::DynamicCastAndCheck(current_nav);
std::vector<int> dims = casted->getDimensions();
- memcpy(data, casted->getData(), std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()));
+ int size = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>());
+ std::memcpy(data, casted->getData(), static_cast<size_t>(size));
}
// Read primitives
diff --git a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.cpp b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.cpp
index 8777b5d0c9691d75a6dce7c780c4e3f6c5c6ce04..b1c25a788a0c1380ef2f8e0f4aa2d9f2acf967b6 100644
--- a/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.cpp
@@ -96,7 +96,8 @@ namespace armarx::aron::dataIO::writer
datanavigator::NDArrayNavigatorPtr aron(new datanavigator::NDArrayNavigator(path));
aron->setDimensions(dims);
aron->setType(t);
- aron->setData(std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>()), data);
+ int size = std::accumulate(std::begin(dims), std::end(dims), 1, std::multiplies<int>());
+ aron->setData(static_cast<unsigned int>(size), data);
token->addElement(aron);
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
index db7b4ed1adc62ea9962bd14ce9993be51bb0cbec..0790dacbc1e0a83e497253fc9e4ee6d17c2da9c2 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/Writer.h
@@ -30,7 +30,6 @@
#include <RobotAPI/libraries/aron/core/Config.h>
-
namespace armarx::aron::typeIO
{
class WriterInterface;
@@ -91,6 +90,13 @@ namespace armarx::aron::typeIO
};
virtual void writeEigenQuaternion(const WriteEigenQuaternionInput&) = 0;
+ struct WriteImageInput
+ {
+ std::string pixelType;
+ type::Maybe maybe;
+ };
+ virtual void writeImage(const WriteImageInput&) = 0;
+
struct WriteIVTCByteImageInput
{
type::Maybe maybe;
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
index 6a23d549a4ea915cfecc8e7645c88c7945355797..96290019ed99cb9ee80b489d6668cdb54769e38d 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.cpp
@@ -18,17 +18,15 @@
* GNU General Public License
*/
-// STD/STL
-#include <memory>
-#include <numeric>
-
-// Header
#include "NavigatorWriter.h"
-// ArmarX
#include <RobotAPI/libraries/aron/core/navigator/data/AllNavigators.h>
#include <RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h>
+#include <memory>
+#include <numeric>
+
+
namespace armarx::aron::typeIO::writer
{
// generate Path info
@@ -154,144 +152,111 @@ namespace armarx::aron::typeIO::writer
}
}
- void NavigatorWriter::writeEigenMatrix(const WriteEigenMatrixInput& o)
+
+ template <class ElementT, class InputT>
+ std::shared_ptr<ElementT>
+ NavigatorWriter::writeElement(const InputT& input)
{
Path path = generatePath();
NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::EigenMatrixNavigator>(path);
+ auto type = std::make_shared<ElementT>(path);
+ type->setMaybe(input.maybe);
+ token->addElement(type);
+
+ return type;
+ }
+
+
+ void NavigatorWriter::writeEigenMatrix(const WriteEigenMatrixInput& o)
+ {
+ auto type = writeElement<typenavigator::EigenMatrixNavigator>(o);
+
type->setRows(o.rows);
type->setCols(o.cols);
type->setTypename(o.type);
- type->setMaybe(o.maybe);
- token->addElement(type);
}
void NavigatorWriter::writeEigenQuaternion(const WriteEigenQuaternionInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::EigenQuaternionNavigator>(path);
+ auto type = writeElement<typenavigator::EigenQuaternionNavigator>(o);
+
type->setTypename(o.type);
- type->setMaybe(o.maybe);
- token->addElement(type);
}
+
+ void NavigatorWriter::writeImage(const WriteImageInput& o)
+ {
+ auto type = writeElement<typenavigator::ImageNavigator>(o);
+
+ type->setPixelType(o.pixelType);
+ }
+
+
void NavigatorWriter::writeIVTCByteImage(const WriteIVTCByteImageInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::IVTCByteImageNavigator>(path);
- type->setMaybe(o.maybe);
- token->addElement(type);
+ writeElement<typenavigator::IVTCByteImageNavigator>(o);
}
void NavigatorWriter::writeOpenCVMat(const WriteOpenCVMatInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::OpenCVMatNavigator>(path);
- type->setMaybe(o.maybe);
- token->addElement(type);
+ writeElement<typenavigator::OpenCVMatNavigator>(o);
}
void NavigatorWriter::writePCLPointCloud(const WritePCLPointCloudInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::PCLPointCloudNavigator>(path);
+ auto type = writeElement<typenavigator::PCLPointCloudNavigator>(o);
+
type->setTypename(o.type);
- type->setMaybe(o.maybe);
- token->addElement(type);
}
void NavigatorWriter::writePosition(const WritePositionInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::PositionNavigator>(path);
- type->setMaybe(o.maybe);
- token->addElement(type);
+ writeElement<typenavigator::PositionNavigator>(o);
}
void NavigatorWriter::writeOrientation(const WriteOrientationInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::OrientationNavigator>(path);
- type->setMaybe(o.maybe);
- token->addElement(type);
+ writeElement<typenavigator::OrientationNavigator>(o);
}
void NavigatorWriter::writePose(const WritePoseInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::PoseNavigator>(path);
- type->setMaybe(o.maybe);
- token->addElement(type);
+ writeElement<typenavigator::PoseNavigator>(o);
}
void NavigatorWriter::writeInt(const WritePrimitiveInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::IntNavigator>(path);
- type->setMaybe(o.maybe);
- token->addElement(type);
+ writeElement<typenavigator::IntNavigator>(o);
}
void NavigatorWriter::writeLong(const WritePrimitiveInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::LongNavigator>(path);
- type->setMaybe(o.maybe);
- token->addElement(type);
+ writeElement<typenavigator::LongNavigator>(o);
}
void NavigatorWriter::writeFloat(const WritePrimitiveInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::FloatNavigator>(path);
- type->setMaybe(o.maybe);
- token->addElement(type);
+ writeElement<typenavigator::FloatNavigator>(o);
}
void NavigatorWriter::writeDouble(const WritePrimitiveInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::DoubleNavigator>(path);
- type->setMaybe(o.maybe);
- token->addElement(type);
+ writeElement<typenavigator::DoubleNavigator>(o);
}
void NavigatorWriter::writeString(const WritePrimitiveInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::StringNavigator>(path);
- type->setMaybe(o.maybe);
- token->addElement(type);
+ writeElement<typenavigator::StringNavigator>(o);
}
void NavigatorWriter::writeBool(const WritePrimitiveInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::BoolNavigator>(path);
- type->setMaybe(o.maybe);
- token->addElement(type);
+ writeElement<typenavigator::BoolNavigator>(o);
}
void NavigatorWriter::writeTime(const WritePrimitiveInput& o)
{
- Path path = generatePath();
- NavigatorWriterTokenPtr token = stack.top();
- auto type = std::make_shared<typenavigator::TimeNavigator>(path);
- type->setMaybe(o.maybe);
- token->addElement(type);
+ writeElement<typenavigator::TimeNavigator>(o);
}
void NavigatorWriter::writeKey(const std::string& k)
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h
index 2586935e519799b7f7dd9c3f971a45bc4ab45d8f..80ca17960f4a454bf7c431ad64ce429835797403 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h
@@ -20,17 +20,14 @@
#pragma once
-// STD/STL
-#include <memory>
-#include <stack>
-
-// BaseClass
+#include <RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriterToken.h>
#include <RobotAPI/libraries/aron/core/io/typeIO/Writer.h>
-
-// ArmarX
#include <RobotAPI/libraries/aron/core/Concepts.h>
#include <RobotAPI/libraries/aron/core/navigator/type/Navigator.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriterToken.h>
+
+#include <memory>
+#include <stack>
+
namespace armarx::aron::typeIO::writer
{
@@ -56,6 +53,7 @@ namespace armarx::aron::typeIO::writer
virtual void writeEigenMatrix(const WriteEigenMatrixInput&) override;
virtual void writeEigenQuaternion(const WriteEigenQuaternionInput&) override;
+ virtual void writeImage(const WriteImageInput&) override;
virtual void writeIVTCByteImage(const WriteIVTCByteImageInput&) override;
virtual void writeOpenCVMat(const WriteOpenCVMatInput&) override;
virtual void writePCLPointCloud(const WritePCLPointCloudInput&) override;
@@ -80,10 +78,16 @@ namespace armarx::aron::typeIO::writer
}
private:
+
+ Path generatePath();
+
+ template <class ElementT, class InputT>
+ std::shared_ptr<ElementT> writeElement(const InputT&);
+
+
bool wroteInitialStartObject = false;
NavigatorWriterTokenPtr lastRemovedToken = nullptr;
std::stack<NavigatorWriterTokenPtr> stack = {};
- Path generatePath();
};
}
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
index 7a4359559aaf5169ef1bdac195937d540e8b3646..aaafe280661a87ad411ab072a3dca5eed0fd7d53 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.cpp
@@ -148,6 +148,18 @@ namespace armarx::aron::typeIO::writer
token->addElement(j);
}
+
+ void NlohmannJSONWriter::writeImage(const WriteImageInput& o)
+ {
+ auto token = stack.top();
+ nlohmann::json j;
+ j[io::Data::READER_WRITER_MAYBE_SLUG] = o.maybe;
+ j[io::Data::READER_WRITER_NDARRAY_NAME_SLUG] = "Image";
+ j["pixelType"] = o.pixelType;
+ token->addElement(j);
+ }
+
+
void NlohmannJSONWriter::writeIVTCByteImage(const WriteIVTCByteImageInput& o)
{
auto token = stack.top();
diff --git a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h
index 055a493c878fbb76b4fed7dc41d08e680a71d976..b1a9b65483db764f7fa576c9f626a0e5b70477ca 100644
--- a/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h
+++ b/source/RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h
@@ -53,6 +53,7 @@ namespace armarx::aron::typeIO::writer
virtual void writeEigenMatrix(const WriteEigenMatrixInput&) override;
virtual void writeEigenQuaternion(const WriteEigenQuaternionInput&) override;
+ virtual void writeImage(const WriteImageInput&) override;
virtual void writeIVTCByteImage(const WriteIVTCByteImageInput&) override;
virtual void writeOpenCVMat(const WriteOpenCVMatInput&) override;
virtual void writePCLPointCloud(const WritePCLPointCloudInput&) override;
diff --git a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
index eb1a486374c836d8156d8055e543379de9840a47..cf568cef484224a6b24e5d292cfa910dee0b8994 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/data/complex/NDArray.cpp
@@ -115,7 +115,7 @@ namespace armarx::aron::datanavigator
void NDArrayNavigator::setData(unsigned int elements, const unsigned char* src)
{
aron->data = std::vector<unsigned char>(elements);
- memcpy(aron->data.data(), src, elements);
+ std::memcpy(aron->data.data(), src, elements);
}
std::vector<int> NDArrayNavigator::getDimensions() const
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h b/source/RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h
index 82702de998bb7e6b0972afd9e96ae027b433eae3..3a09c0a35f884d02f904eeaceee9dbd8b7a0c3c4 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/AllNavigators.h
@@ -8,6 +8,7 @@
#include "ndarray/NDArray.h"
#include "ndarray/EigenMatrix.h"
#include "ndarray/EigenQuaternion.h"
+#include "ndarray/Image.h"
#include "ndarray/IVTCByteImage.h"
#include "ndarray/OpenCVMat.h"
#include "ndarray/Orientation.h"
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h b/source/RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h
index af5d62e7c0decbc296cea942fa1983b0e0cb5924..e735771a906f47337a2db04a71448c8932a40b28 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/forward_declarations.h
@@ -15,6 +15,7 @@ namespace armarx::aron::typenavigator
using NDArrayNavigatorPtr = std::shared_ptr<class NDArrayNavigator>;
using EigenMatrixNavigatorPtr = std::shared_ptr<class EigenMatrixNavigator>;
using EigenQuaternionNavigatorPtr = std::shared_ptr<class EigenQuaternionNavigator>;
+ using ImageNavigatorPtr = std::shared_ptr<class ImageNavigator>;
using IVTCByteImageNavigatorPtr = std::shared_ptr<class IVTCByteImageNavigator>;
using OpenCVMatNavigatorPtr = std::shared_ptr<class OpenCVMatNavigator>;
using OrientationNavigatorPtr = std::shared_ptr<class OrientationNavigator>;
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Image.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Image.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..dec13ece6cd10683ac5ffd6ac0f16af9c5a7e1a9
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Image.cpp
@@ -0,0 +1,130 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * 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 Rainer Kartmann (rainer dot kartmann at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "Image.h"
+
+#include <RobotAPI/libraries/aron/core/Exception.h>
+
+#include <SimoxUtility/algorithm/string.h>
+#include <SimoxUtility/meta/EnumNames.hpp>
+
+
+namespace armarx::aron::typenavigator
+{
+
+ static const simox::meta::EnumNames<ImagePixelType> ImagePixelTypeNames
+ {
+ { ImagePixelType::Rgb24, "rgb24" },
+ { ImagePixelType::Depth32, "depth32" },
+ };
+
+
+ // constructors
+ ImageNavigator::ImageNavigator(const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eImage, path)
+ {
+ }
+
+
+ ImageNavigator::ImageNavigator(const type::AronImagePtr& o, const Path& path) :
+ aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eImage, path),
+ detail::NavigatorBase<type::AronImage, ImageNavigator>(o)
+ {
+ }
+
+
+ type::AronImagePtr ImageNavigator::toAronImagePtr() const
+ {
+ return this->aron;
+ }
+
+
+ ImagePixelType ImageNavigator::getPixelType() const
+ {
+ return pixelTypeFromName(this->aron->pixelType);
+ }
+
+ void ImageNavigator::setPixelType(const ImagePixelType& pixelType) const
+ {
+ this->aron->pixelType = pixelTypeToName(pixelType);
+ }
+
+ void ImageNavigator::setPixelType(const std::string& typeName) const
+ {
+ // Try a lookup, which throws when failing.
+ pixelTypeFromName(typeName);
+ this->aron->pixelType = typeName;
+ }
+
+
+ // virtual implementations
+ std::string ImageNavigator::getName() const
+ {
+ return "AronImageType";
+ }
+
+
+ bool ImageNavigator::operator==(const ImageNavigator& other) const
+ {
+ return *this->aron == *other.aron;
+ }
+
+
+ std::string ImageNavigator::pixelTypeToName(ImagePixelType type)
+ {
+ try
+ {
+ return ImagePixelTypeNames.to_name(type);
+ }
+ catch (const simox::meta::error::UnknownEnumValue& e)
+ {
+ throw aron::error::AronException("ImageNavigator", __FUNCTION__, e.what());
+ }
+ }
+
+
+ ImagePixelType ImageNavigator::pixelTypeFromName(const std::string& name)
+ {
+ try
+ {
+ return ImagePixelTypeNames.from_name(simox::alg::to_lower(name));
+ }
+ catch (const simox::meta::error::UnknownEnumValue& e)
+ {
+ throw aron::error::AronException("ImageNavigator", __FUNCTION__, e.what());
+ }
+ }
+
+
+ std::set<ImagePixelType> ImageNavigator::pixelTypes()
+ {
+ return ImagePixelTypeNames.values();
+ }
+
+ std::set<std::string> ImageNavigator::pixelTypeNames()
+ {
+ return ImagePixelTypeNames.names();
+ }
+
+}
+
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Image.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Image.h
new file mode 100644
index 0000000000000000000000000000000000000000..a725dfd161c9534902e10acd4c4a20e8183320ca
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/Image.h
@@ -0,0 +1,79 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * 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 Rainer Kartmann (rainer dot kartmann at kit dot edu)
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <RobotAPI/libraries/aron/core/navigator/type/detail/NDArrayNavigatorBase.h>
+
+#include <memory>
+#include <string>
+
+
+namespace armarx::aron::typenavigator
+{
+ enum class ImagePixelType
+ {
+ /// 3 (8-bit) byte channels for R, G, and B.
+ Rgb24, // ==> CV_8UC1
+ /// 1 (32-bit) float channel for depth.
+ Depth32, // ==> CV_32FC1
+ };
+
+
+ class ImageNavigator :
+ virtual public detail::NDArrayNavigatorBase<type::AronImage, ImageNavigator>
+ {
+ public:
+
+ ImageNavigator(const Path& path = {});
+ ImageNavigator(const type::AronImagePtr&, const Path& path);
+
+
+ type::AronImagePtr toAronImagePtr() const;
+
+ /// Get the pixel type.
+ ImagePixelType getPixelType() const;
+ void setPixelType(const ImagePixelType& type) const;
+ void setPixelType(const std::string& typeName) const;
+
+
+ // virtual implementations
+ virtual std::string getName() const override;
+
+
+ // operators
+ virtual bool operator==(const ImageNavigator&) const override;
+
+
+ public:
+
+ static std::string pixelTypeToName(ImagePixelType type);
+ static ImagePixelType pixelTypeFromName(const std::string& name);
+ static std::set<ImagePixelType> pixelTypes();
+ static std::set<std::string> pixelTypeNames();
+
+ };
+
+ using ImageNavigatorPtr = std::shared_ptr<ImageNavigator>;
+
+}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
index 2d41e10ab7c13af0fbfcba8d59919830ce37dd1a..bf805025d848c2d405c359d595edd7d4e7a94adc 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.cpp
@@ -26,18 +26,21 @@
namespace armarx::aron::typenavigator
{
+
// constructors
OpenCVMatNavigator::OpenCVMatNavigator(const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eOpenCVMat, path)
{
}
+
OpenCVMatNavigator::OpenCVMatNavigator(const type::AronOpenCVMatPtr& o, const Path& path) :
aron::Navigator<type::Descriptor, type::AronType>::Navigator(type::Descriptor::eOpenCVMat, path),
detail::NavigatorBase<type::AronOpenCVMat, OpenCVMatNavigator>(o)
{
}
+
// operators
bool OpenCVMatNavigator::operator==(const OpenCVMatNavigator& other) const
{
@@ -48,15 +51,42 @@ namespace armarx::aron::typenavigator
return true;
}
+
type::AronOpenCVMatPtr OpenCVMatNavigator::toAronOpenCVMatPtr() const
{
return this->aron;
}
+
+ std::vector<int> OpenCVMatNavigator::getShape() const
+ {
+ return this->aron->shape;
+ }
+
+
+ void OpenCVMatNavigator::setShape(const std::vector<int>& shape) const
+ {
+ this->aron->shape = shape;
+ }
+
+
+ std::string OpenCVMatNavigator::getTypeName() const
+ {
+ return this->aron->typeName;
+ }
+
+
+ void OpenCVMatNavigator::setTypeName(const std::string& typeName)
+ {
+ this->aron->typeName = typeName;
+ }
+
+
// virtual implementations
std::string OpenCVMatNavigator::getName() const
{
return "AronOpenCVMatType";
}
+
}
diff --git a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h
index 74e4e285540a66823409c8272b707d825e78ba40..46c62277da75e4c785137aa948b5388fefb8035e 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/type/ndarray/OpenCVMat.h
@@ -30,6 +30,7 @@
// Base class
#include "../detail/NDArrayNavigatorBase.h"
+
namespace armarx::aron::typenavigator
{
class OpenCVMatNavigator;
@@ -49,9 +50,16 @@ namespace armarx::aron::typenavigator
// public member functions
type::AronOpenCVMatPtr toAronOpenCVMatPtr() const;
+ std::vector<int> getShape() const;
+ void setShape(const std::vector<int>& shape) const;
+
+ std::string getTypeName() const;
+ void setTypeName(const std::string& typeName);
+
// virtual implementations
virtual std::string getName() const override;
+
public:
const std::map<std::string, std::vector<std::string>> ACCEPTED_TYPES =
{
diff --git a/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.cpp b/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.cpp
index e99a7f91658f88611d9884d9795fb8e36b2a8485..fe98e3abe1d839928f9e3a78c2e52cb0e0717a20 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.cpp
+++ b/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.cpp
@@ -155,6 +155,10 @@ namespace armarx::aron::visitor
{
return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
}
+ else if (auto t = dynamic_cast<ImageNavigator*>(&type))
+ {
+ return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
+ }
else if (auto t = dynamic_cast<IVTCByteImageTypeNavigator*>(&type))
{
return visit(*t, key, dynamic_cast<NDArrayDataNavigator&>(data));
diff --git a/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.h b/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.h
index f577903a4524da4ce220d6d402e9719f1afdac7a..b2efdaa79f0a8813c0a753822851789378ce73c7 100644
--- a/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.h
+++ b/source/RobotAPI/libraries/aron/core/navigator/visitors/TypedDataVisitor.h
@@ -79,6 +79,7 @@ namespace armarx::aron::visitor
// Array-valued
using EigenMatrixTypeNavigator = typenavigator::EigenMatrixNavigator;
using EigenQuaternionTypeNavigator = typenavigator::EigenQuaternionNavigator;
+ using ImageNavigator = typenavigator::ImageNavigator;
using IVTCByteImageTypeNavigator = typenavigator::IVTCByteImageNavigator;
using OpenCVMatTypeNavigator = typenavigator::OpenCVMatNavigator;
using PCLPointCloudTypeNavigator = typenavigator::PCLPointCloudNavigator;
@@ -193,6 +194,11 @@ namespace armarx::aron::visitor
(void) type, (void) data;
return true;
}
+ virtual bool visit(ImageNavigator& type, NDArrayDataNavigator& data)
+ {
+ (void) type, (void) data;
+ return true;
+ }
virtual bool visit(IVTCByteImageTypeNavigator& type, NDArrayDataNavigator& data)
{
(void) type, (void) data;
@@ -323,6 +329,11 @@ namespace armarx::aron::visitor
(void) type, (void) key;
return visit(type, data);
}
+ virtual bool visit(ImageNavigator& type, const std::string& key, NDArrayDataNavigator& data)
+ {
+ (void) type, (void) key;
+ return visit(type, data);
+ }
virtual bool visit(IVTCByteImageTypeNavigator& type, const std::string& key, NDArrayDataNavigator& data)
{
(void) type, (void) key;
diff --git a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
index 9ea4438bbe3381ee9c92ae3cd4d6c656606e916c..4bc9abcc6c2e42529d3c80a5036a5af1a8e4f100 100644
--- a/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
+++ b/source/RobotAPI/libraries/aron/core/test/CMakeLists.txt
@@ -49,6 +49,7 @@ armarx_add_test(
aron/EigenQuaternionTest.xml
aron/EnumTest.xml
aron/HumanPoseTest.xml
+ aron/ImageTest.xml
aron/IVTCByteImageTest.xml
aron/ListTest.xml
aron/NaturalIKTest.xml
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/EigenQuaternionTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/EigenQuaternionTest.xml
index a5760ba3b259ab6824f8a9bcb1fb9c5cd5855f53..cc175020464ffa683fe102c0fc93a7c27011c34a 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/EigenQuaternionTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/aron/EigenQuaternionTest.xml
@@ -2,19 +2,23 @@
<?xml version="1.0" encoding="UTF-8" ?>
<AronTypeDefinition>
<CodeIncludes>
- <Include include="<Eigen/Core>" />
<Include include="<Eigen/Geometry>" />
</CodeIncludes>
<AronIncludes>
</AronIncludes>
<GenerateTypes>
+
<Object name='armarx::EigenQuaternionTest'>
- <ObjectChild key='the_float_eigen_matrix'>
+
+ <ObjectChild key='the_float_quaternion'>
<EigenQuaternion type="float" />
</ObjectChild>
- <ObjectChild key='the_double_eigen_matrix'>
+
+ <ObjectChild key='the_double_quaternion'>
<EigenQuaternion type="double" />
</ObjectChild>
+
</Object>
+
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/ImageTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/ImageTest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ab88fd71efc2e0e654296c734fdcb07d0eef7b12
--- /dev/null
+++ b/source/RobotAPI/libraries/aron/core/test/aron/ImageTest.xml
@@ -0,0 +1,20 @@
+<!-- An RGB and a depth image. -->
+<?xml version="1.0" encoding="UTF-8" ?>
+<AronTypeDefinition>
+ <CodeIncludes>
+ <Include include="<opencv2/core/core.hpp>" />
+ </CodeIncludes>
+ <GenerateTypes>
+ <Object name='armarx::ImageTest'>
+
+ <ObjectChild key='the_rgb24_image'>
+ <Image pixelType="rgb24" />
+ </ObjectChild>
+
+ <ObjectChild key='the_depth32_image'>
+ <Image pixelType="depth32" />
+ </ObjectChild>
+
+ </Object>
+ </GenerateTypes>
+</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/aron/OpenCVMatTest.xml b/source/RobotAPI/libraries/aron/core/test/aron/OpenCVMatTest.xml
index f4179798c6ed36ee9f48373ebe57c921bfcf448d..1eb67f338db680eb65aa3e8c2bf25e9229f4b0fa 100644
--- a/source/RobotAPI/libraries/aron/core/test/aron/OpenCVMatTest.xml
+++ b/source/RobotAPI/libraries/aron/core/test/aron/OpenCVMatTest.xml
@@ -6,18 +6,27 @@
</CodeIncludes>
<GenerateTypes>
<Object name='armarx::OpenCVMatTest'>
- <ObjectChild key='the_2d_opencv_matrix'>
- <OpenCVMat dimensions="25, 25" type="64F" />
+
+ <ObjectChild key='the_rgb24_image'>
+ <Image pixelType="rgb24" />
+ </ObjectChild>
+
+ <ObjectChild key='the_depth32_image'>
+ <Image pixelType="depth32" />
+ </ObjectChild>
+
+ <!--ObjectChild key='the_2d_opencv_matrix'>
+ <OpenCVMat shape="25, 25" type="64F" />
</ObjectChild>
<ObjectChild key='the_3d_opencv_matrix'>
- <OpenCVMat dimensions="25, 25, 25" type="CV_32F" />
+ <OpenCVMat shape="25, 25, 25" type="CV_32F" />
</ObjectChild>
<ObjectChild key='the_4d_opencv_matrix'>
- <OpenCVMat dimensions="25, 25, 25, 25" type="CV_32S" />
+ <OpenCVMat shape="25, 25, 25, 25" type="CV_32S" />
</ObjectChild>
<ObjectChild key='the_5d_opencv_matrix'>
- <OpenCVMat dimensions="25, 25, 25, 25, 25" type="16U" />
- </ObjectChild>
+ <OpenCVMat shape="25, 25, 25, 25, 25" type="16U" />
+ </ObjectChild-->
</Object>
</GenerateTypes>
</AronTypeDefinition>
diff --git a/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
index f2867d76e57bc81c17e00eeb56caf14a8a558743..44bbb19a9bad2cb37d6ba4fc9305a0f4bb05f979 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronCodeGenerationTest.cpp
@@ -47,6 +47,7 @@
#include <RobotAPI/libraries/aron/core/test/aron/DictTest.aron.generated.h>
#include <RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.aron.generated.h>
#include <RobotAPI/libraries/aron/core/test/aron/ObjectTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/ImageTest.aron.generated.h>
#include <RobotAPI/libraries/aron/core/test/aron/IVTCByteImageTest.aron.generated.h>
#include <RobotAPI/libraries/aron/core/test/aron/EigenMatrixTest.aron.generated.h>
#include <RobotAPI/libraries/aron/core/test/aron/EigenQuaternionTest.aron.generated.h>
diff --git a/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp b/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp
index 395de492cc22ef4e80665f4477e648046d329cf8..4ff0724c95ca3c0cbc31dd051b6ba3afdff37fe9 100644
--- a/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp
+++ b/source/RobotAPI/libraries/aron/core/test/aronRandomizedTest.cpp
@@ -24,11 +24,46 @@
#define ARMARX_BOOST_TEST
-// STD/STL
-#include <iostream>
-#include <cstdlib>
-#include <ctime>
-#include <numeric>
+
+// Generated File - include them first to check whether their includes are complete.
+#include <RobotAPI/libraries/aron/core/test/aron/ListTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/DictTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/ObjectTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/ImageTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/IVTCByteImageTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/EigenMatrixTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/EigenQuaternionTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/OpenCVMatTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/PCLPointCloudTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/PositionTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/OrientationTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/PoseTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/EnumTest.aron.generated.h>
+#include <RobotAPI/libraries/aron/core/test/aron/OptionalTest.aron.generated.h>
+
+// Aron
+#include <RobotAPI/libraries/aron/core/Debug.h>
+#include <RobotAPI/libraries/aron/core/Randomizer.h>
+
+#include <RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h>
+
+#include <RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.h>
+#include <RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
+
+#include <RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h>
+
+#include <RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h>
+#include <RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
+
+
+// ArmarX
+#include <ArmarXCore/libraries/cppgen/CppMethod.h>
+#include <ArmarXCore/libraries/cppgen/CppClass.h>
+#include <RobotAPI/libraries/aron/core/Exception.h>
+
// IVT
#include <Image/ByteImage.h>
@@ -43,226 +78,201 @@
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
-// Test
-#include <RobotAPI/Test.h>
-
-// ArmarX
-#include <ArmarXCore/libraries/cppgen/CppMethod.h>
-#include <ArmarXCore/libraries/cppgen/CppClass.h>
-#include <RobotAPI/libraries/aron/core/Exception.h>
-
-// Aron
-#include <RobotAPI/libraries/aron/core/Debug.h>
-#include <RobotAPI/libraries/aron/core/Randomizer.h>
-#include <RobotAPI/libraries/aron/core/io/dataIO/reader/navigator/NavigatorReader.h>
-#include <RobotAPI/libraries/aron/core/io/dataIO/reader/nlohmannJSON/NlohmannJSONReader.h>
+// STD/STL
+#include <iostream>
+#include <cstdlib>
+#include <ctime>
+#include <numeric>
-#include <RobotAPI/libraries/aron/core/io/dataIO/writer/navigator/NavigatorWriter.h>
-#include <RobotAPI/libraries/aron/core/io/dataIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/reader/navigator/NavigatorReader.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/reader/nlohmannJSON/NlohmannJSONReader.h>
+// Test
+#include <RobotAPI/Test.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/writer/navigator/NavigatorWriter.h>
-#include <RobotAPI/libraries/aron/core/io/typeIO/writer/nlohmannJSON/NlohmannJSONWriter.h>
// Files without code generation
//#include "aronDataWithoutCodeGeneration.h"
-// Generated File
-#include <RobotAPI/libraries/aron/core/test/aron/ListTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/DictTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/PrimitiveTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/ObjectTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/IVTCByteImageTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/EigenMatrixTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/EigenQuaternionTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/OpenCVMatTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/PCLPointCloudTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/PositionTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/OrientationTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/PoseTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/EnumTest.aron.generated.h>
-#include <RobotAPI/libraries/aron/core/test/aron/OptionalTest.aron.generated.h>
using namespace armarx;
using namespace aron;
+
template <typename T>
-void runTestWithInstances(T& k1, T& k2)
+void test_toAronType(T& in, T& out)
{
- // assumes not nullptrs as k1 and k2. If you have a maybe type then make sure that it is set properly
+ nlohmann::json in_type_json;
+ nlohmann::json out_type_json;
- int echo_debug_lv = 1;
+ BOOST_TEST_CONTEXT("getting in type")
+ {
+ typenavigator::ObjectNavigatorPtr in_type_nav = in.toAronType();
- Randomizer r;
+ type::AronObjectPtr in_type = in_type_nav->toAronObjectPtr();
+ BOOST_CHECK(in_type);
+
+ armarx::aron::typeIO::writer::NlohmannJSONWriter json_writer_in;
+ in.writeType(json_writer_in);
+ in_type_json = json_writer_in.getResult();
+ BOOST_CHECK(in_type_json.is_object());
+ }
+ BOOST_TEST_CONTEXT("getting out type")
{
- if (echo_debug_lv)
- {
- std::cout << "\t getting type 1" << std::endl;
- }
- typenavigator::ObjectNavigatorPtr k1_type_nav = k1.toAronType();
- type::AronObjectPtr k1_type = k1_type_nav->toAronObjectPtr();
- BOOST_CHECK_EQUAL((bool) k1_type, true);
+ typenavigator::ObjectNavigatorPtr out_type_nav = out.toAronType();
- armarx::aron::typeIO::writer::NlohmannJSONWriter json_writer_k1;
- k1.writeType(json_writer_k1);
- nlohmann::json k1_type_json = json_writer_k1.getResult();
- BOOST_CHECK_EQUAL(k1_type_json.is_object(), true);
+ type::AronObjectPtr out_type = out_type_nav->toAronObjectPtr();
+ BOOST_CHECK(out_type);
- if (echo_debug_lv)
- {
- std::cout << "\t getting type 2" << std::endl;
- }
- typenavigator::ObjectNavigatorPtr k2_type_nav = k2.toAronType();
- type::AronObjectPtr k2_type = k2_type_nav->toAronObjectPtr();
- BOOST_CHECK_EQUAL((bool) k2_type, true);
-
- armarx::aron::typeIO::writer::NlohmannJSONWriter json_writer_k2;
- k2.writeType(json_writer_k2);
- nlohmann::json k2_type_json = json_writer_k2.getResult();
- BOOST_CHECK_EQUAL(k2_type_json.is_object(), true);
- BOOST_CHECK_EQUAL(k1_type_json.dump(2), k2_type_json.dump(2));
+ armarx::aron::typeIO::writer::NlohmannJSONWriter json_writer_out;
+ out.writeType(json_writer_out);
+ out_type_json = json_writer_out.getResult();
+ BOOST_CHECK(out_type_json.is_object());
}
- {
- typenavigator::ObjectNavigatorPtr k1_type_nav = k1.toAronType();
- datanavigator::DictNavigatorPtr k1_aron_nav = k1.toAron();
+ BOOST_CHECK_EQUAL(out_type_json.dump(2), in_type_json.dump(2));
+}
- if (echo_debug_lv)
- {
- std::cout << "\t initialize aron 1 randomly" << std::endl;
- }
- r.initializeRandomly(k1_aron_nav, k1_type_nav);
- if (echo_debug_lv)
- {
- std::cout << "\t getting aron 1" << std::endl;
- }
- data::AronDictPtr k1_aron = k1_aron_nav->toAronDictPtr();
- BOOST_CHECK_EQUAL((bool) k1_aron, true);
- if (echo_debug_lv >= 2)
- {
- std::cout << "K1 Aron:" << std::endl;
- std::cout << armarx::aron::Debug::AronDataPtrToString(k1_aron) << std::endl;
- std::cout << "K2 Aron:" << std::endl;
- std::cout << armarx::aron::Debug::AronDataPtrToString(k2.toAron()->toAronDictPtr()) << std::endl;
- }
- if (echo_debug_lv)
- {
- std::cout << "\t setting aron 2 from aron 1" << std::endl;
- }
- k2.fromAron(k1_aron);
+template <typename T>
+void test_toAron(T& in, T& out)
+{
+ datanavigator::DictNavigatorPtr in_aron_nav = in.toAron();
+ Randomizer r;
- if (echo_debug_lv)
- {
- std::cout << "\t getting aron 2" << std::endl;
- }
- datanavigator::DictNavigatorPtr k2_aron_nav = k2.toAron();
- BOOST_CHECK_EQUAL((*k1_aron_nav == *k2_aron_nav), true);
+ BOOST_TEST_CONTEXT("initialize in aron randomly")
+ {
+ typenavigator::ObjectNavigatorPtr in_type_nav = in.toAronType();
+ r.initializeRandomly(in_aron_nav, in_type_nav);
+ }
- data::AronDictPtr k2_aron = k2_aron_nav->toAronDictPtr();
- BOOST_CHECK_EQUAL((bool) k2_aron, true);
+ BOOST_TEST_INFO("getting in aron");
+ data::AronDictPtr in_aron = in_aron_nav->toAronDictPtr();
+ BOOST_CHECK(in_aron);
- if (echo_debug_lv)
- {
- std::cout << "\t setting aron 1 from aron 2 and check for equality" << std::endl;
- }
- k1.fromAron(k2_aron_nav);
+ BOOST_TEST_MESSAGE("in aron: \n" << armarx::aron::Debug::AronDataPtrToString(in_aron));
+ BOOST_TEST_MESSAGE("out aron: \n" << armarx::aron::Debug::AronDataPtrToString(out.toAron()->toAronDictPtr()));
- if (echo_debug_lv >= 2)
- {
- std::cout << "K1 Aron:" << std::endl;
- std::cout << armarx::aron::Debug::AronDataPtrToString(k1.toAron()->toAronDictPtr()) << std::endl;
- std::cout << "K2 Aron:" << std::endl;
- std::cout << armarx::aron::Debug::AronDataPtrToString(k2.toAron()->toAronDictPtr()) << std::endl;
- }
- BOOST_CHECK_EQUAL((k1 == k2), true);
+ datanavigator::DictNavigatorPtr out_aron_nav;
+ BOOST_TEST_CONTEXT("setting out aron from in aron")
+ {
+ out.fromAron(in_aron);
- datanavigator::DictNavigatorPtr k1_aron_nav_again = k1.toAron();
- BOOST_CHECK_EQUAL((*k1_aron_nav == *k1_aron_nav_again), true);
+ BOOST_TEST_INFO("getting out aron");
+ out_aron_nav = out.toAron();
+ BOOST_CHECK(*in_aron_nav == *out_aron_nav);
+
+ data::AronDictPtr out_aron = out_aron_nav->toAronDictPtr();
+ BOOST_CHECK(out_aron);
}
+ BOOST_TEST_CONTEXT("setting in aron from out aron and check for equality")
{
- typenavigator::ObjectNavigatorPtr k1_type_nav = k1.toAronType();
- datanavigator::DictNavigatorPtr k1_aron_nav = k1.toAron();
+ in.fromAron(out_aron_nav);
- r.initializeRandomly(k1_aron_nav, k1_type_nav);
+ BOOST_TEST_MESSAGE("in Aron: \n" << armarx::aron::Debug::AronDataPtrToString(in.toAron()->toAronDictPtr()));
+ BOOST_TEST_MESSAGE("out Aron: \n" << armarx::aron::Debug::AronDataPtrToString(out.toAron()->toAronDictPtr()));
+ BOOST_CHECK(in == out);
- data::AronDictPtr k1_aron = k1_aron_nav->toAronDictPtr();
- k1.fromAron(k1_aron);
+ datanavigator::DictNavigatorPtr in_aron_nav_again = in.toAron();
+ BOOST_CHECK(*in_aron_nav == *in_aron_nav_again);
+ }
+}
- if (echo_debug_lv)
- {
- std::cout << "\t check JSON export of k and k2 for equality" << std::endl;
- }
- armarx::aron::dataIO::writer::NlohmannJSONWriter json_writer_for_k1;
- armarx::aron::dataIO::writer::NlohmannJSONWriter json_writer_for_k2;
- k1.write(json_writer_for_k1);
- nlohmann::json k1_aron_json = json_writer_for_k1.getResult();
- std::string k1_aron_json_str = k1_aron_json.dump(4);
+template <typename T>
+void test_toJson(T& in, T& out)
+{
+ datanavigator::DictNavigatorPtr in_aron_nav = in.toAron();
- armarx::aron::dataIO::writer::NlohmannJSONWriter direct_json_writer_for_k1;
- armarx::aron::dataIO::Visitor::VisitAndSetup(direct_json_writer_for_k1, k1_aron);
- nlohmann::json direct_k1_aron_json = direct_json_writer_for_k1.getResult();
- std::string direct_k1_aron_json_str = direct_k1_aron_json.dump(4);
+ Randomizer r;
+ {
+ typenavigator::ObjectNavigatorPtr in_type_nav = in.toAronType();
+ r.initializeRandomly(in_aron_nav, in_type_nav);
+ }
- if (echo_debug_lv >= 2)
- {
- std::cout << "\t K1 as json: " << std::endl << k1_aron_json_str << std::endl;
- std::cout << "\t K1 as direct json: " << std::endl << direct_k1_aron_json_str << std::endl;
- }
- BOOST_CHECK_EQUAL((k1_aron_json_str == direct_k1_aron_json_str), true);
+ data::AronDictPtr in_aron = in_aron_nav->toAronDictPtr();
+ in.fromAron(in_aron);
- armarx::aron::dataIO::reader::NlohmannJSONReader json_reader_for_k2(k1_aron_json);
+ armarx::aron::dataIO::writer::NlohmannJSONWriter json_writer_for_in;
+ armarx::aron::dataIO::writer::NlohmannJSONWriter json_writer_for_out;
- k2.read(json_reader_for_k2);
- k2.write(json_writer_for_k2);
+ nlohmann::json in_aron_json;
+ std::string in_aron_json_str;
+ BOOST_TEST_CONTEXT("check JSON export of k and out for equality")
+ {
+ in.write(json_writer_for_in);
+ in_aron_json = json_writer_for_in.getResult();
+ in_aron_json_str = in_aron_json.dump(4);
- nlohmann::json k2_aron_json = json_writer_for_k2.getResult();
- std::string k2_aron_json_str = k2_aron_json.dump(4);
+ armarx::aron::dataIO::writer::NlohmannJSONWriter direct_json_writer_for_in;
+ armarx::aron::dataIO::Visitor::VisitAndSetup(direct_json_writer_for_in, in_aron);
+ nlohmann::json direct_in_aron_json = direct_json_writer_for_in.getResult();
+ std::string direct_in_aron_json_str = direct_in_aron_json.dump(4);
- if (echo_debug_lv >= 2)
+ BOOST_TEST_CONTEXT( "\n> in as json: \n" << in_aron_json_str
+ << "\n> n as direct json: \n" << direct_in_aron_json_str)
{
- std::cout << "\t K1 as json: " << std::endl << k1_aron_json_str << std::endl;
- std::cout << "\t K2 as json: " << std::endl << k2_aron_json_str << std::endl;
+ BOOST_CHECK(in_aron_json_str == direct_in_aron_json_str);
}
- BOOST_CHECK_EQUAL((k1_aron_json_str == k2_aron_json_str), true);
+ }
+
+ armarx::aron::dataIO::reader::NlohmannJSONReader json_reader_for_out(in_aron_json);
+
+ out.read(json_reader_for_out);
+ out.write(json_writer_for_out);
+
+ nlohmann::json out_aron_json = json_writer_for_out.getResult();
+ std::string out_aron_json_str = out_aron_json.dump(4);
+
+ BOOST_TEST_CONTEXT( "\n> in as json: \n" << in_aron_json_str
+ << "\n> out as json: \n" << out_aron_json_str)
+ {
+ BOOST_CHECK(in_aron_json_str == out_aron_json_str);
}
}
-BOOST_AUTO_TEST_CASE(AronListTest)
+
+template <typename T>
+void runTestWithInstances(T& in, T& out)
+{
+ // assumes not nullptrs as in and out. If you have a maybe type then make sure that it is set properly
+
+ test_toAronType(in, out);
+ test_toAron(in, out);
+ test_toJson(in, out);
+}
+
+
+BOOST_AUTO_TEST_CASE(test_List)
{
- std::cout << "Running List test" << std::endl;
+ BOOST_TEST_MESSAGE("Running List test");
ListTest l;
ListTest l2;
runTestWithInstances<ListTest>(l, l2);
}
-BOOST_AUTO_TEST_CASE(AronDictTest)
+BOOST_AUTO_TEST_CASE(test_Dict)
{
- std::cout << "Running Dict test" << std::endl;
+ BOOST_TEST_MESSAGE("Running Dict test");
DictTest d;
DictTest d2;
runTestWithInstances<DictTest>(d, d2);
}
-BOOST_AUTO_TEST_CASE(AronPrimitiveTest)
+BOOST_AUTO_TEST_CASE(test_Primitive)
{
- std::cout << "Running Primitive test" << std::endl;
+ BOOST_TEST_MESSAGE("Running Primitive test");
PrimitiveTest p;
PrimitiveTest p2;
runTestWithInstances<PrimitiveTest>(p, p2);
}
-BOOST_AUTO_TEST_CASE(AronObjectTest)
+BOOST_AUTO_TEST_CASE(test_Object)
{
- std::cout << "Running Object test" << std::endl;
+ BOOST_TEST_MESSAGE("Running Object test");
ObjectTest1 o1;
ObjectTest1 o12;
runTestWithInstances<ObjectTest1>(o1, o12);
@@ -272,9 +282,9 @@ BOOST_AUTO_TEST_CASE(AronObjectTest)
runTestWithInstances<ObjectTest2>(o2, o22);
}
-BOOST_AUTO_TEST_CASE(AronImageTest)
+BOOST_AUTO_TEST_CASE(test_IVTCByteImage)
{
- std::cout << "Running Image test" << std::endl;
+ BOOST_TEST_MESSAGE("Running Image test");
IVTCByteImageTest ii;
IVTCByteImageTest ii2;
@@ -293,32 +303,36 @@ BOOST_AUTO_TEST_CASE(AronImageTest)
runTestWithInstances<IVTCByteImageTest>(ii, ii2);
}
-BOOST_AUTO_TEST_CASE(AronEigenMatrixTest)
+BOOST_AUTO_TEST_CASE(test_EigenMatrix)
{
// Eigen may cause problems with dimensions > 145
- std::cout << "Running EigenMatrix test" << std::endl;
+ BOOST_TEST_MESSAGE("Running EigenMatrix test");
EigenMatrixTest em;
EigenMatrixTest em2;
runTestWithInstances<EigenMatrixTest>(em, em2);
}
-BOOST_AUTO_TEST_CASE(AronOpenCVTest)
+BOOST_AUTO_TEST_CASE(test_Image)
{
- std::cout << "Running OpenCVMat test" << std::endl;
- OpenCVMatTest ocv;
- OpenCVMatTest ocv2;
-
- ocv.the_2d_opencv_matrix = cv::Mat(2, 2, CV_64F);
- ocv.the_3d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2}), CV_32F);
- ocv.the_4d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2, 2}), CV_16S);
- ocv.the_5d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2, 2, 2}), CV_8U);
-
- runTestWithInstances<OpenCVMatTest>(ocv, ocv2);
+ BOOST_TEST_MESSAGE("Running Image test");
+ ImageTest image;
+ ImageTest image2;
+
+ image.the_rgb24_image.create(3, 4, image.the_rgb24_image.type());
+ image.the_depth32_image.create(3, 4, image.the_depth32_image.type());
+
+ /* Could be used for ndarray test
+ image.the_2d_opencv_matrix = cv::Mat(2, 2, CV_64F);
+ image.the_3d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2}), CV_32F);
+ image.the_4d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2, 2}), CV_16S);
+ image.the_5d_opencv_matrix = cv::Mat(std::vector<int>({2, 2, 2, 2, 2}), CV_8U);
+ */
+ runTestWithInstances<ImageTest>(image, image2);
}
-BOOST_AUTO_TEST_CASE(AronPCLPointCloudTest)
+BOOST_AUTO_TEST_CASE(test_PCLPointCloud)
{
- std::cout << "Running PCLPointCloud test" << std::endl;
+ BOOST_TEST_MESSAGE("Running PCLPointCloud test");
PointCloudTest pc;
PointCloudTest pc2;
@@ -331,41 +345,41 @@ BOOST_AUTO_TEST_CASE(AronPCLPointCloudTest)
runTestWithInstances<PointCloudTest>(pc, pc2);
}
-BOOST_AUTO_TEST_CASE(AronEigenQuaternionTest)
+BOOST_AUTO_TEST_CASE(test_EigenQuaternion)
{
- std::cout << "Running EigenQuaternion test" << std::endl;
+ BOOST_TEST_MESSAGE("Running EigenQuaternion test");
EigenQuaternionTest eq;
EigenQuaternionTest eq2;
runTestWithInstances<EigenQuaternionTest>(eq, eq2);
}
-BOOST_AUTO_TEST_CASE(AronPositionTest)
+BOOST_AUTO_TEST_CASE(test_Position)
{
- std::cout << "Running Position test" << std::endl;
+ BOOST_TEST_MESSAGE("Running Position test");
PositionTest pc;
PositionTest pc2;
runTestWithInstances<PositionTest>(pc, pc2);
}
-BOOST_AUTO_TEST_CASE(AronOrientationTest)
+BOOST_AUTO_TEST_CASE(test_Orientation)
{
- std::cout << "Running Orientation test" << std::endl;
+ BOOST_TEST_MESSAGE("Running Orientation test");
OrientationTest pc;
OrientationTest pc2;
runTestWithInstances<OrientationTest>(pc, pc2);
}
-BOOST_AUTO_TEST_CASE(AronPoseTest)
+BOOST_AUTO_TEST_CASE(test_Pose)
{
- std::cout << "Running Pose test" << std::endl;
+ BOOST_TEST_MESSAGE("Running Pose test");
PoseTest pc;
PoseTest pc2;
runTestWithInstances<PoseTest>(pc, pc2);
}
-BOOST_AUTO_TEST_CASE(AronOptionalTest)
+BOOST_AUTO_TEST_CASE(test_Optional)
{
- std::cout << "Running Optional test" << std::endl;
+ BOOST_TEST_MESSAGE("Running Optional test");
OptionalTest pc;
OptionalTest pc2;
runTestWithInstances<OptionalTest>(pc, pc2);
diff --git a/source/RobotAPI/libraries/core/CMakeLists.txt b/source/RobotAPI/libraries/core/CMakeLists.txt
index 319a2e230228e944d2d443133d4664531f29b298..1e4b08820998f187015b03173f5e38c6fee21a14 100644
--- a/source/RobotAPI/libraries/core/CMakeLists.txt
+++ b/source/RobotAPI/libraries/core/CMakeLists.txt
@@ -31,7 +31,9 @@ set(LIB_FILES
RobotStatechartContext.cpp
RobotPool.cpp
checks/ConditionCheckMagnitudeChecks.cpp
+ observerfilters/OffsetFilter.cpp
observerfilters/PoseAverageFilter.cpp
+ observerfilters/PoseMedianFilter.cpp
observerfilters/PoseMedianOffsetFilter.cpp
observerfilters/MedianDerivativeFilterV3.cpp
RobotAPIObjectFactories.cpp
diff --git a/source/RobotAPI/libraries/core/FramedPose.cpp b/source/RobotAPI/libraries/core/FramedPose.cpp
index 12bf1e91699c7e891d6cdce1a1fd4f38e96f0993..852477268e44969670b78789e31f1aae57848fac 100644
--- a/source/RobotAPI/libraries/core/FramedPose.cpp
+++ b/source/RobotAPI/libraries/core/FramedPose.cpp
@@ -33,6 +33,7 @@
#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/RobotConfig.h>
+
using namespace Eigen;
template class ::IceInternal::Handle<::armarx::FramedPose>;
diff --git a/source/RobotAPI/libraries/core/LinkedPose.cpp b/source/RobotAPI/libraries/core/LinkedPose.cpp
index 00391df0cba8d2a9b94cb368cdf16738c7e4c2c8..10b93907b5873f521378987329895c1a7033a960 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.cpp
+++ b/source/RobotAPI/libraries/core/LinkedPose.cpp
@@ -290,4 +290,10 @@ namespace armarx
}
+ void VariantType::suppressWarningUnusedVariableForLinkedPoseAndDirection()
+ {
+ ARMARX_DEBUG_S << VAROUT(LinkedPose);
+ ARMARX_DEBUG_S << VAROUT(LinkedDirection);
+ }
+
}
diff --git a/source/RobotAPI/libraries/core/LinkedPose.h b/source/RobotAPI/libraries/core/LinkedPose.h
index ffdc675d3b44eea2496d0e71ea121324b4b743f3..71a4240c81060d86e75cbf204ef3de726bd685a3 100644
--- a/source/RobotAPI/libraries/core/LinkedPose.h
+++ b/source/RobotAPI/libraries/core/LinkedPose.h
@@ -42,6 +42,8 @@ namespace armarx::VariantType
// variant types
const VariantTypeId LinkedPose = Variant::addTypeName("::armarx::LinkedPoseBase");
const VariantTypeId LinkedDirection = Variant::addTypeName("::armarx::LinkedDirectionBase");
+
+ void suppressWarningUnusedVariableForLinkedPoseAndDirection();
}
namespace armarx
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.cpp b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.cpp
index 4232b3c8dcf97dfe7ce3ad70987c36c558561fa5..9f1ee0943cdbc899358d2f074bac5151932e3703 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.cpp
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.cpp
@@ -25,6 +25,7 @@
#include <ArmarXCore/core/util/StringHelpers.h>
+
namespace armarx
{
diff --git a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
index 21670bd3c0716322f2bbd1f3da133bae10f41754..6c936c777acfbdd0b1d066ca0f5b2fcbbfef4072 100644
--- a/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
+++ b/source/RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h
@@ -29,6 +29,7 @@
#include <ArmarXCore/observers/ConditionCheck.h>
#include <ArmarXCore/core/logging/Logging.h>
+
namespace armarx
{
diff --git a/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.cpp b/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.cpp
index cf84ea731b2c0f4949295dfea5c8e0e069b49146..699dc495760c1fb1862fe4eb0a28986361448ce8 100644
--- a/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.cpp
+++ b/source/RobotAPI/libraries/core/observerfilters/MedianDerivativeFilterV3.cpp
@@ -26,6 +26,7 @@
#include <ArmarXCore/core/logging/Logging.h>
+
using namespace armarx;
using namespace filters;
diff --git a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.cpp b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d8a3246de16fa15282559204e96f45f516567d7c
--- /dev/null
+++ b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.cpp
@@ -0,0 +1,109 @@
+#include "OffsetFilter.h"
+
+#include <RobotAPI/libraries/core/FramedPose.h>
+
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/util/variants/eigen3/MatrixVariant.h>
+
+
+namespace armarx::filters
+{
+
+ OffsetFilter::OffsetFilter()
+ {
+ firstRun = true;
+ windowFilterSize = 1;
+ }
+
+
+ VariantBasePtr OffsetFilter::calculate(const Ice::Current&) const
+ {
+ std::unique_lock lock(historyMutex);
+
+ VariantPtr newVariant;
+
+ if (initialValue && dataHistory.size() > 0)
+ {
+ VariantTypeId type = dataHistory.begin()->second->getType();
+ VariantPtr currentValue = VariantPtr::dynamicCast(dataHistory.rbegin()->second);
+
+ if (currentValue->getType() != initialValue->getType())
+ {
+ ARMARX_ERROR_S << "Types in OffsetFilter are different: " << Variant::typeToString(currentValue->getType()) << " and " << Variant::typeToString(initialValue->getType());
+ return nullptr;
+ }
+
+ if (type == VariantType::Int)
+ {
+ int newValue = dataHistory.rbegin()->second->getInt() - initialValue->getInt();
+ newVariant = new Variant(newValue);
+ }
+ else if (type == VariantType::Float)
+ {
+ float newValue = dataHistory.rbegin()->second->getFloat() - initialValue->getFloat();
+ newVariant = new Variant(newValue);
+ }
+ else if (type == VariantType::Double)
+ {
+ double newValue = dataHistory.rbegin()->second->getDouble() - initialValue->getDouble();
+ newVariant = new Variant(newValue);
+ }
+ else if (type == VariantType::FramedDirection)
+ {
+ FramedDirectionPtr vec = FramedDirectionPtr::dynamicCast(currentValue->get<FramedDirection>());
+ FramedDirectionPtr intialVec = FramedDirectionPtr::dynamicCast(initialValue->get<FramedDirection>());
+ Eigen::Vector3f newValue = vec->toEigen() - intialVec->toEigen();
+
+ newVariant = new Variant(new FramedDirection(newValue, vec->frame, vec->agent));
+ }
+ else if (type == VariantType::FramedPosition)
+ {
+ FramedPositionPtr pos = FramedPositionPtr::dynamicCast(currentValue->get<FramedPosition>());
+ FramedPositionPtr intialPos = FramedPositionPtr::dynamicCast(initialValue->get<FramedPosition>());
+ Eigen::Vector3f newValue = pos->toEigen() - intialPos->toEigen();
+ newVariant = new Variant(new FramedPosition(newValue, pos->frame, pos->agent));
+ }
+ else if (type == VariantType::MatrixFloat)
+ {
+ MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(currentValue->get<MatrixFloat>());
+ MatrixFloatPtr initialMatrix = MatrixFloatPtr::dynamicCast(initialValue->get<MatrixFloat>());
+ Eigen::MatrixXf newMatrix = matrix->toEigen() - initialMatrix->toEigen();
+ newVariant = new Variant(new MatrixFloat(newMatrix));
+ }
+ }
+
+ return newVariant;
+
+ }
+
+ ParameterTypeList OffsetFilter::getSupportedTypes(const Ice::Current&) const
+ {
+ ParameterTypeList result;
+ result.push_back(VariantType::Int);
+ result.push_back(VariantType::Float);
+ result.push_back(VariantType::Double);
+ result.push_back(VariantType::FramedDirection);
+ result.push_back(VariantType::FramedPosition);
+ result.push_back(VariantType::MatrixFloat);
+ return result;
+ }
+
+ void OffsetFilter::update(Ice::Long timestamp, const VariantBasePtr& value, const Ice::Current& c)
+ {
+ DatafieldFilter::update(timestamp, value, c);
+
+ if (firstRun)
+ {
+ std::unique_lock lock(historyMutex);
+
+ if (dataHistory.size() == 0)
+ {
+ return;
+ }
+
+ initialValue = VariantPtr::dynamicCast(dataHistory.begin()->second);
+ firstRun = false;
+ }
+ }
+
+}
diff --git a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
index 1f4cfc17ca851f86e04c6e37c2ebc80d7da4b95d..4af1082d7fb7ac6fb8aeea67f1491d7f94d2f39d 100644
--- a/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/OffsetFilter.h
@@ -23,10 +23,9 @@
#pragma once
#include <RobotAPI/interface/observers/ObserverFilters.h>
+
#include <ArmarXCore/observers/filters/DatafieldFilter.h>
-#include <RobotAPI/libraries/core/FramedPose.h>
-#include <ArmarXCore/util/variants/eigen3/MatrixVariant.h>
-#include <ArmarXCore/core/logging/Logging.h>
+
namespace armarx::filters
{
@@ -44,109 +43,27 @@ namespace armarx::filters
public DatafieldFilter
{
public:
- OffsetFilter()
- {
- firstRun = true;
- windowFilterSize = 1;
- }
+
+ OffsetFilter();
// DatafieldFilterBase interface
public:
- VariantBasePtr calculate(const Ice::Current& c = Ice::emptyCurrent) const override
- {
-
- std::unique_lock lock(historyMutex);
-
- VariantPtr newVariant;
-
- if (initialValue && dataHistory.size() > 0)
- {
- VariantTypeId type = dataHistory.begin()->second->getType();
- VariantPtr currentValue = VariantPtr::dynamicCast(dataHistory.rbegin()->second);
-
- if (currentValue->getType() != initialValue->getType())
- {
- ARMARX_ERROR_S << "Types in OffsetFilter are different: " << Variant::typeToString(currentValue->getType()) << " and " << Variant::typeToString(initialValue->getType());
- return NULL;
- }
-
- if (type == VariantType::Int)
- {
- int newValue = dataHistory.rbegin()->second->getInt() - initialValue->getInt();
- newVariant = new Variant(newValue);
- }
- else if (type == VariantType::Float)
- {
- float newValue = dataHistory.rbegin()->second->getFloat() - initialValue->getFloat();
- newVariant = new Variant(newValue);
- }
- else if (type == VariantType::Double)
- {
- double newValue = dataHistory.rbegin()->second->getDouble() - initialValue->getDouble();
- newVariant = new Variant(newValue);
- }
- else if (type == VariantType::FramedDirection)
- {
- FramedDirectionPtr vec = FramedDirectionPtr::dynamicCast(currentValue->get<FramedDirection>());
- FramedDirectionPtr intialVec = FramedDirectionPtr::dynamicCast(initialValue->get<FramedDirection>());
- Eigen::Vector3f newValue = vec->toEigen() - intialVec->toEigen();
-
- newVariant = new Variant(new FramedDirection(newValue, vec->frame, vec->agent));
- }
- else if (type == VariantType::FramedPosition)
- {
- FramedPositionPtr pos = FramedPositionPtr::dynamicCast(currentValue->get<FramedPosition>());
- FramedPositionPtr intialPos = FramedPositionPtr::dynamicCast(initialValue->get<FramedPosition>());
- Eigen::Vector3f newValue = pos->toEigen() - intialPos->toEigen();
- newVariant = new Variant(new FramedPosition(newValue, pos->frame, pos->agent));
- }
- else if (type == VariantType::MatrixFloat)
- {
- MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(currentValue->get<MatrixFloat>());
- MatrixFloatPtr initialMatrix = MatrixFloatPtr::dynamicCast(initialValue->get<MatrixFloat>());
- Eigen::MatrixXf newMatrix = matrix->toEigen() - initialMatrix->toEigen();
- newVariant = new Variant(new MatrixFloat(newMatrix));
- }
- }
-
- return newVariant;
-
- }
- ParameterTypeList getSupportedTypes(const Ice::Current&) const override
- {
- ParameterTypeList result;
- result.push_back(VariantType::Int);
- result.push_back(VariantType::Float);
- result.push_back(VariantType::Double);
- result.push_back(VariantType::FramedDirection);
- result.push_back(VariantType::FramedPosition);
- result.push_back(VariantType::MatrixFloat);
- return result;
- }
+
+ VariantBasePtr calculate(const Ice::Current& = Ice::emptyCurrent) const override;
+
+ ParameterTypeList getSupportedTypes(const Ice::Current&) const override;
+
+
private:
bool firstRun;
VariantPtr initialValue;
+
// DatafieldFilterBase interface
public:
- void update(Ice::Long timestamp, const VariantBasePtr& value, const Ice::Current& c) override
- {
- DatafieldFilter::update(timestamp, value, c);
-
- if (firstRun)
- {
- std::unique_lock lock(historyMutex);
-
- if (dataHistory.size() == 0)
- {
- return;
- }
-
- initialValue = VariantPtr::dynamicCast(dataHistory.begin()->second);
- firstRun = false;
- }
- }
+ void update(Ice::Long timestamp, const VariantBasePtr& value, const Ice::Current& c) override;
+
};
}
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseAverageFilter.cpp b/source/RobotAPI/libraries/core/observerfilters/PoseAverageFilter.cpp
index 25657e38b27bfb63cd6d9de48514ec0f00c2497e..e0d61134cfb5e85319d9a45af55418cf9f1a9a07 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseAverageFilter.cpp
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseAverageFilter.cpp
@@ -25,6 +25,7 @@
#include <ArmarXCore/core/logging/Logging.h>
+
namespace armarx::filters
{
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.cpp b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..72c6e8e8e798c43046f14c3dbcabc73233ab9a0d
--- /dev/null
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.cpp
@@ -0,0 +1,112 @@
+#include "PoseMedianFilter.h"
+
+#include <RobotAPI/libraries/core/FramedPose.h>
+#include <RobotAPI/interface/core/PoseBase.h>
+
+#include <ArmarXCore/core/logging/Logging.h>
+
+
+namespace armarx::filters
+{
+
+ PoseMedianFilter::PoseMedianFilter(int windowSize)
+ {
+ this->windowFilterSize = windowSize;
+ }
+
+
+ VariantBasePtr PoseMedianFilter::calculate(const Ice::Current& c) const
+ {
+ std::unique_lock lock(historyMutex);
+
+ if (dataHistory.size() == 0)
+ {
+ return nullptr;
+ }
+
+ VariantTypeId type = dataHistory.begin()->second->getType();
+
+ if (type == VariantType::Vector3
+ or type == VariantType::FramedDirection
+ or type == VariantType::FramedPosition)
+ {
+ Eigen::Vector3f vec;
+ vec.setZero();
+ std::string frame = "";
+ std::string agent = "";
+ VariantPtr var = VariantPtr::dynamicCast(dataHistory.begin()->second);
+
+ if (type == VariantType::FramedDirection)
+ {
+ FramedDirectionPtr p = var->get<FramedDirection>();
+ frame = p->frame;
+ agent = p->agent;
+ }
+ else if (type == VariantType::FramedPosition)
+ {
+ FramedPositionPtr p = var->get<FramedPosition>();
+ frame = p->frame;
+ agent = p->agent;
+ }
+
+ for (int i = 0; i < 3; ++i)
+ {
+ std::vector<double> values;
+
+ for (auto v : dataHistory)
+ {
+ VariantPtr v2 = VariantPtr::dynamicCast(v.second);
+ values.push_back(v2->get<Vector3>()->toEigen()[i]);
+ }
+
+ std::sort(values.begin(), values.end());
+ vec[i] = values.at(values.size() / 2);
+ }
+
+ if (type == VariantType::Vector3)
+ {
+ Vector3Ptr vecVar = new Vector3(vec);
+ return new Variant(vecVar);
+ }
+ else if (type == VariantType::FramedDirection)
+ {
+
+ FramedDirectionPtr vecVar = new FramedDirection(vec, frame, agent);
+ return new Variant(vecVar);
+ }
+ else if (type == VariantType::FramedPosition)
+ {
+ FramedPositionPtr vecVar = new FramedPosition(vec, frame, agent);
+ return new Variant(vecVar);
+ }
+ else
+ {
+ ARMARX_WARNING_S << "Implementation missing here";
+ return nullptr;
+ }
+ }
+ else if (type == VariantType::Double)
+ {
+ // auto values = SortVariants<double>(dataHistory);
+ // return new Variant(values.at(values.size()/2));
+ }
+ else if (type == VariantType::Int)
+ {
+ // auto values = SortVariants<int>(dataHistory);
+ // return new Variant(values.at(values.size()/2));
+ }
+
+ return MedianFilter::calculate(c);
+ }
+
+
+ ParameterTypeList PoseMedianFilter::getSupportedTypes(const Ice::Current& c) const
+ {
+ ParameterTypeList result = MedianFilter::getSupportedTypes(c);
+ result.push_back(VariantType::Vector3);
+ result.push_back(VariantType::FramedDirection);
+ result.push_back(VariantType::FramedPosition);
+ return result;
+ }
+
+}
diff --git a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
index b43ffe9c90c1ee499eeb79713743f0db06b7a588..bc03128714c8685f07b45b09e1e41996437e697f 100644
--- a/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
+++ b/source/RobotAPI/libraries/core/observerfilters/PoseMedianFilter.h
@@ -23,11 +23,10 @@
*/
#pragma once
-#include <RobotAPI/libraries/core/FramedPose.h>
-#include <RobotAPI/interface/core/PoseBase.h>
+#include <RobotAPI/interface/core/FramedPoseBase.h>
#include <ArmarXCore/observers/filters/MedianFilter.h>
-#include <ArmarXCore/core/logging/Logging.h>
+
namespace armarx::filters
{
@@ -43,108 +42,17 @@ namespace armarx::filters
public MedianFilter
{
public:
- PoseMedianFilter(int windowSize = 11)
- {
- this->windowFilterSize = windowSize;
- }
+ PoseMedianFilter(int windowSize = 11);
// DatafieldFilterBase interface
public:
- VariantBasePtr calculate(const Ice::Current& c) const override
- {
- std::unique_lock lock(historyMutex);
-
- if (dataHistory.size() == 0)
- {
- return NULL;
- }
-
- VariantTypeId type = dataHistory.begin()->second->getType();
-
- if ((type == VariantType::Vector3) || (type == VariantType::FramedDirection) || (type == VariantType::FramedPosition))
- {
-
- Eigen::Vector3f vec;
- vec.setZero();
- std::string frame = "";
- std::string agent = "";
- VariantPtr var = VariantPtr::dynamicCast(dataHistory.begin()->second);
-
- if (type == VariantType::FramedDirection)
- {
- FramedDirectionPtr p = var->get<FramedDirection>();
- frame = p->frame;
- agent = p->agent;
- }
- else if (type == VariantType::FramedPosition)
- {
- FramedPositionPtr p = var->get<FramedPosition>();
- frame = p->frame;
- agent = p->agent;
- }
-
- for (int i = 0; i < 3; ++i)
- {
- std::vector<double> values;
-
- for (auto v : dataHistory)
- {
- VariantPtr v2 = VariantPtr::dynamicCast(v.second);
- values.push_back(v2->get<Vector3>()->toEigen()[i]);
- }
-
- std::sort(values.begin(), values.end());
- vec[i] = values.at(values.size() / 2);
- }
-
- if (type == VariantType::Vector3)
- {
- Vector3Ptr vecVar = new Vector3(vec);
- return new Variant(vecVar);
- }
- else if (type == VariantType::FramedDirection)
- {
-
- FramedDirectionPtr vecVar = new FramedDirection(vec, frame, agent);
- return new Variant(vecVar);
- }
- else if (type == VariantType::FramedPosition)
- {
- FramedPositionPtr vecVar = new FramedPosition(vec, frame, agent);
- return new Variant(vecVar);
- }
- else
- {
- ARMARX_WARNING_S << "Implementation missing here";
- return NULL;
- }
- }
- else if (type == VariantType::Double)
- {
- // auto values = SortVariants<double>(dataHistory);
- // return new Variant(values.at(values.size()/2));
- }
- else if (type == VariantType::Int)
- {
- // auto values = SortVariants<int>(dataHistory);
- // return new Variant(values.at(values.size()/2));
- }
-
- return MedianFilter::calculate(c);
- }
+ VariantBasePtr calculate(const Ice::Current& c) const override;
/**
* @brief This filter supports: Vector3, FramedDirection, FramedPosition
* @return List of VariantTypes
*/
- ParameterTypeList getSupportedTypes(const Ice::Current& c) const override
- {
- ParameterTypeList result = MedianFilter::getSupportedTypes(c);
- result.push_back(VariantType::Vector3);
- result.push_back(VariantType::FramedDirection);
- result.push_back(VariantType::FramedPosition);
- return result;
- }
+ ParameterTypeList getSupportedTypes(const Ice::Current& c) const override;
};
diff --git a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
index a509af7464f2e77346c9e2e90bdc7d4361b7e090..e6cc65c23c13e154382042424db8483d879a89b4 100644
--- a/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
+++ b/source/RobotAPI/libraries/core/remoterobot/RemoteRobotNode.cpp
@@ -25,11 +25,13 @@
#include <RobotAPI/libraries/core/FramedPose.h>
+#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/interface/core/BasicTypes.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <VirtualRobot/VirtualRobot.h>
+
namespace armarx
{