From 24830cf84d033922e9710eb83dddd67c70413bd2 Mon Sep 17 00:00:00 2001
From: Rainer Kartmann <rainer.kartmann@kit.edu>
Date: Wed, 29 Nov 2023 09:25:48 +0100
Subject: [PATCH] Add component MemoryPlotter (WIP)
---
.../components/armem/client/CMakeLists.txt | 1 +
.../armem/client/MemoryPlotter/CMakeLists.txt | 21 ++++
.../client/MemoryPlotter/MemoryPlotter.cpp | 106 ++++++++++++++++++
.../client/MemoryPlotter/MemoryPlotter.h | 99 ++++++++++++++++
4 files changed, 227 insertions(+)
create mode 100644 source/RobotAPI/components/armem/client/MemoryPlotter/CMakeLists.txt
create mode 100644 source/RobotAPI/components/armem/client/MemoryPlotter/MemoryPlotter.cpp
create mode 100644 source/RobotAPI/components/armem/client/MemoryPlotter/MemoryPlotter.h
diff --git a/source/RobotAPI/components/armem/client/CMakeLists.txt b/source/RobotAPI/components/armem/client/CMakeLists.txt
index 9e9e2da67..160f90fff 100644
--- a/source/RobotAPI/components/armem/client/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/client/CMakeLists.txt
@@ -1,5 +1,6 @@
add_subdirectory(ExampleMemoryClient)
add_subdirectory(GraspProviderExample)
+add_subdirectory(MemoryPlotter)
add_subdirectory(ObjectInstanceToIndex)
add_subdirectory(RobotStatePredictionClientExample)
add_subdirectory(SimpleVirtualRobot)
diff --git a/source/RobotAPI/components/armem/client/MemoryPlotter/CMakeLists.txt b/source/RobotAPI/components/armem/client/MemoryPlotter/CMakeLists.txt
new file mode 100644
index 000000000..401035be3
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/MemoryPlotter/CMakeLists.txt
@@ -0,0 +1,21 @@
+armarx_component_set_name(MemoryPlotter)
+
+set(COMPONENT_LIBS
+ ArmarXCore
+ ArmarXCoreComponentPlugins
+ ArmarXGuiComponentPlugins
+ RobotAPICore RobotAPIInterfaces
+ armem
+)
+
+set(SOURCES
+ MemoryPlotter.cpp
+)
+
+set(HEADERS
+ MemoryPlotter.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+armarx_generate_and_add_component_executable()
diff --git a/source/RobotAPI/components/armem/client/MemoryPlotter/MemoryPlotter.cpp b/source/RobotAPI/components/armem/client/MemoryPlotter/MemoryPlotter.cpp
new file mode 100644
index 000000000..e442247df
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/MemoryPlotter/MemoryPlotter.cpp
@@ -0,0 +1,106 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::MemoryPlotter
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2023
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "MemoryPlotter.h"
+
+#include <ArmarXCore/core/time/Frequency.h>
+#include <ArmarXCore/core/time/Metronome.h>
+
+namespace armarx
+{
+
+ armarx::PropertyDefinitionsPtr
+ MemoryPlotter::createPropertyDefinitions()
+ {
+ armarx::PropertyDefinitionsPtr defs =
+ new ComponentPropertyDefinitions(getConfigIdentifier());
+
+
+ return defs;
+ }
+
+ std::string
+ MemoryPlotter::getDefaultName() const
+ {
+ return "MemoryPlotter";
+ }
+
+ void
+ MemoryPlotter::onInitComponent()
+ {
+ }
+
+ void
+ MemoryPlotter::onConnectComponent()
+ {
+ createRemoteGuiTab();
+ RemoteGui_startRunningTask();
+
+ task = new RunningTask<MemoryPlotter>(this, &MemoryPlotter::run);
+ task->start();
+ }
+
+ void
+ MemoryPlotter::onDisconnectComponent()
+ {
+ task->stop();
+ }
+
+ void
+ MemoryPlotter::onExitComponent()
+ {
+ }
+
+ void
+ MemoryPlotter::run()
+ {
+ Frequency frequency = Frequency::Hertz(30);
+ Metronome metronome(frequency);
+ while (not task->isStopped())
+ {
+ metronome.waitForNextTick();
+ }
+ }
+
+ void
+ MemoryPlotter::createRemoteGuiTab()
+ {
+ using namespace armarx::RemoteGui::Client;
+
+ if (tab.queryResult)
+ {
+ }
+
+ VBoxLayout root = {tab.queryResultGroup, VSpacer()};
+ RemoteGui_createTab(getName(), root, &tab);
+ }
+
+ void
+ MemoryPlotter::RemoteGui_update()
+ {
+ if (tab.rebuild.exchange(false))
+ {
+ createRemoteGuiTab();
+ }
+ }
+
+} // namespace armarx
diff --git a/source/RobotAPI/components/armem/client/MemoryPlotter/MemoryPlotter.h b/source/RobotAPI/components/armem/client/MemoryPlotter/MemoryPlotter.h
new file mode 100644
index 000000000..5e3067985
--- /dev/null
+++ b/source/RobotAPI/components/armem/client/MemoryPlotter/MemoryPlotter.h
@@ -0,0 +1,99 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::ArmarXObjects::MemoryPlotter
+ * @author Rainer Kartmann ( rainer dot kartmann at kit dot edu )
+ * @date 2023
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#pragma once
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/interface/observers/ObserverInterface.h>
+#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
+#include <ArmarXCore/util/tasks.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+
+#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
+#include <RobotAPI/libraries/armem/client/Reader.h>
+#include <RobotAPI/libraries/armem/client/plugins/PluginUser.h>
+#include <RobotAPI/libraries/armem/core/wm/memory_definitions.h>
+
+namespace armarx
+{
+
+ /**
+ * @defgroup Component-MemoryPlotter MemoryPlotter
+ * @ingroup RobotAPI-Components
+ *
+ * Transfers data from the memory system to the DebugObserver, allowing to visualize them in
+ * the LivePlotter.
+ *
+ * @class MemoryPlotter
+ * @ingroup Component-MemoryPlotter
+ * @brief Implementation of \ref Component-MemoryPlotter.
+ */
+ class MemoryPlotter :
+ virtual public armarx::Component,
+ virtual public armarx::armem::ClientPluginUser,
+ virtual public armarx::DebugObserverComponentPluginUser,
+ virtual public armarx::LightweightRemoteGuiComponentPluginUser
+ {
+ public:
+ /// @see armarx::ManagedIceObject::getDefaultName()
+ std::string getDefaultName() const override;
+
+ // LightweightRemoteGuiComponentPluginUser interface
+ public:
+ void createRemoteGuiTab();
+ void RemoteGui_update() override;
+
+
+ protected:
+ armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+
+ void onInitComponent() override;
+ void onConnectComponent() override;
+ void onDisconnectComponent() override;
+ void onExitComponent() override;
+
+ void run();
+
+
+ private:
+ struct Properties
+ {
+ };
+
+ Properties p;
+
+ std::map<armem::MemoryID, armem::client::Reader> memoryReaders;
+
+ armarx::RunningTask<MemoryPlotter>::pointer_type task;
+
+ struct RemoteGuiTab : RemoteGui::Client::Tab
+ {
+ std::atomic_bool rebuild = false;
+
+ std::optional<armem::wm::Memory> queryResult;
+ RemoteGui::Client::GroupBox queryResultGroup;
+ };
+
+ RemoteGuiTab tab;
+ };
+} // namespace armarx
--
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