Add component MemoryPlotter (WIP)

source/RobotAPI/components/armem/client/CMakeLists.txt

 add_subdirectory(ExampleMemoryClient)
 add_subdirectory(GraspProviderExample)
+add_subdirectory(MemoryPlotter)
 add_subdirectory(ObjectInstanceToIndex)
 add_subdirectory(RobotStatePredictionClientExample)
 add_subdirectory(SimpleVirtualRobot)

source/RobotAPI/components/armem/client/MemoryPlotter/CMakeLists.txt

+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()

source/RobotAPI/components/armem/client/MemoryPlotter/MemoryPlotter.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::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

source/RobotAPI/components/armem/client/MemoryPlotter/MemoryPlotter.h

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::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